CN207642071U - Bimodulus bending machine - Google Patents
Bimodulus bending machine Download PDFInfo
- Publication number
- CN207642071U CN207642071U CN201721421637.3U CN201721421637U CN207642071U CN 207642071 U CN207642071 U CN 207642071U CN 201721421637 U CN201721421637 U CN 201721421637U CN 207642071 U CN207642071 U CN 207642071U
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- China
- Prior art keywords
- pipe fitting
- rack
- bending
- pipe
- bending machine
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- 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.)
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- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The utility model is related to pipe fitting bending machining more particularly to bimodulus bending machines.Including rack, the rack is equipped with detent mechanism, the pipe bending mechanism positioned at detent mechanism side, the pipe bending mechanism includes that the clamping part and the drive clamping part that pipe fitting end clamps can be rotated to the rotation section for making the clamped end bending of pipe fitting in rack, the flat mouth mechanism that can be rotated with the rotation section is additionally provided in the rack, the flat mouth mechanism includes that can stretch to the intercalation part of pipe fitting endoporus.The utility model is added to flat mouth mechanism, and in bend pipe, flat mouth mechanism intercalation part stretches in the endoporus of pipe fitting, and flat mouth mechanism rotates together with pipe bending mechanism, it to make the port of pipe fitting keep smooth during bending, is unlikely to deform, to improve the quality of bend pipe.And the intercalation part of flat mouth mechanism can be moved with respect to pipe fitting, after the completion of bending machining, intercalation part automatically resets, you can takes out the pipe fitting for completing bending machining, makes the processing efficiency higher of this bending machine.
Description
【Technical field】
The utility model is related to pipe fitting bending machining more particularly to bimodulus bending machines.
【Background technology】
Bending machine carries out the bending of tubing.In the case of pure bending, when the effect of pipe fitting mechanism by bending bends,
Tube wall tension stress acts on, and when deflection is excessive, the shape of cross section becomes approximate ellipsoidal from circle due to force, outside
Side pipe wall will produce crackle, and inside tube wall will appear corrugation.The quality of bend pipe is influenced whether in this way.
【Invention content】
To solve the problems, such as that bend pipe process is easily deformed in the prior art, it is relatively simple that the utility model provides structure
Bimodulus bending machine.
The utility model is achieved through the following technical solutions：
Bimodulus bending machine, including rack, the rack be equipped with for by the detent mechanism of pipe fitting clamping and positioning, be located at it is fixed
Mechanism side in position is used to carry out one end of pipe fitting the pipe bending mechanism of bending machining, and the pipe bending mechanism includes can be by pipe fitting end
The clamping part and the drive clamping part of clamping rotate the rotation section for making the clamped end bending of pipe fitting, the rack in rack
On be additionally provided with the flat mouth mechanism that can be rotated with the rotation section, the flat mouth mechanism includes that can stretch to the intercalation part of pipe fitting endoporus
And the driving intercalation part is with respect to the driving unit that pipe fitting moves.
Bimodulus bending machine as described above, the intercalation part are equipped with mandrel, and the diameter of the mandrel is slightly less than pipe fitting
Endoporus.
Bimodulus bending machine as described above, the driving unit are connect by a supporting rack with the rotation section, and are supported
Frame is equipped with guide rail, and the intercalation part is mounted on by slide on guide rail, and the driving unit, which is equipped with, to push slide to move
Push rod, and the driving unit be oil cylinder.
Bimodulus bending machine as described above, the rack are equipped with the transmission of driving wheel and the driving driving wheel rotation
Component is connected on the driving wheel and is keyed with driving wheel and from the shaft that driving wheel both ends are stretched out, the rotation section includes
The connecting seat being connected in the shaft, the retaining part is in the side of the connecting seat, and connecting seat is equipped with and can drive
The drive component that the clamping part moves up and down.
Bimodulus bending machine as described above is located at below the clamping part on the connecting seat and is additionally provided with and can turn with shaft
Dynamic bool, the bool offer semi-circular groove, and the lower end of the clamping part is equipped with matches co-clip with the semi-circular groove
Hold the arc groove of pipe fitting.
Bimodulus bending machine as described above, the transmission component include being set to drive cylinder and driving oil in rack
The rack of cylinder connection and the second driving wheel for coordinating and coordinating with the driving wheel in the rack, and also set in the rack
There is the trimming hand wheel of adjustable driving wheel driving angle.
Bimodulus bending machine as described above is additionally provided with for pipe fitting to be pushed to the feeding at detent mechanism in the rack
Mechanism, the feed mechanism include be set to rack on the second guide rail, the Mobile base on the second guide rail and set on movement
The head of the core bar opposite with detent mechanism on seat, the core bar is circular arc type.
Bimodulus bending machine as described above, the side that the second guide rail is located in the rack are equipped with position detector.
Bimodulus bending machine as described above is additionally provided with storage in the rack between the feed mechanism and detent mechanism
Expect mechanism, the material storage mechanism includes the storage bin for storing undressed pipe fitting, and pipe fitting outlet is offered on the storage bin,
It is additionally provided with guiding inclined plate positioned at pipe fitting exit on the storage bin, the inclined surface bottom for being oriented to inclined plate is to be sent with described
Expect the opposite position to be pushed of mechanism, and the locating part that pipe fitting can be pressed on and be oriented on inclined plate is additionally provided on the guiding inclined plate.
Bimodulus bending machine as described above is additionally provided with length adjustment component, the length adjustment component in the storage bin
Include in storage bin and with the movable plate of storage bin shape adaptation and the runner that movable plate can be made to be moved in storage bin.
1, the utility model provides bimodulus bending machine, is added to flat mouth mechanism, and in bend pipe, flat mouth mechanism intercalation part is stretched
Enter into the endoporus of pipe fitting, and flat mouth mechanism rotates together with pipe bending mechanism, to make the port of pipe fitting in the process of bending
It is middle to keep smooth, it is unlikely to deform, to improve the quality of bend pipe.And the intercalation part of flat mouth mechanism can be moved with respect to pipe fitting, curved
After processing is completed, intercalation part automatically resets song, you can the pipe fitting that will complete bending machining takes out, and makes the processing efficiency of this bending machine
Higher.
2, also there is delivery device on the bimodulus bending machine of the utility model, pipe fitting is pushed to by bending position using core bar,
And during bending machining, core bar heads into the endoporus of pipe fitting rear end, can effectively prevent pipe fitting during bending machining
Internal Hole Deformation, to further increase the quality of bend pipe.
3, also there is material storage mechanism on bimodulus bending machine, coordinate delivery device, automatic blanking can be completed, realize continuous add
Work makes the high degree of automation of machine, high in machining efficiency.
4, the pipe bending mechanism of the utility model bimodulus bending machine is passed using oil cylinder, rack, driving wheel, the second driving wheel
It is dynamic, and the angle of bend pipe can be adjusted by adjusting the stroke of oil cylinder, so that machine is can adapt to the bend pipe more required processing,
And stablized using oil cylinder transmission speed, the quality of bend pipe can be promoted, and angle adjustment can be carried out by trimming hand wheel, into
One step improves the machining accuracy of bend pipe.
【Description of the drawings】
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the utility model
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram one of the utility model bimodulus bending machine；
Fig. 2 is the structural schematic diagram two of the utility model bimodulus bending machine；
Fig. 3 is bimodulus bending machine structure chart (hidden parts structure)；
Fig. 4 is the structure chart one of pipe bending mechanism；
Fig. 5 is the Structure explosion diagram of pipe bending mechanism；
Fig. 6 is the structural schematic diagram () of pipe bending mechanism work；
Fig. 7 is the structure chart two of pipe bending mechanism.
【Specific implementation mode】
The technical issues of in order to keep the utility model solved, technical solution and advantageous effect are more clearly understood, below
In conjunction with accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific implementation described herein
Example is only used to explain the utility model, is not used to limit the utility model.
The utility model is achieved through the following technical solutions：
As shown in Figures 1 to 7, bimodulus bending machine, including rack 1, the rack 1 are equipped with fixed for clamping pipe fitting 9
The detent mechanism 2 of position, the pipe bending mechanism 3 for being used to carry out one end of pipe fitting 9 bending machining positioned at 2 side of detent mechanism, it is described
Pipe bending mechanism 3 includes that can rotate the clamping part 301 and the drive clamping part 301 that 9 end of pipe fitting clamps in rack 1 to make
Pipe fitting 9 is clamped to hold the rotation section 302 being bent, and the flat mouth mechanism that can be rotated with the rotation section 302 is additionally provided in the rack 1
4, the flat mouth mechanism 4 includes that can stretch to the intercalation part 401 and the driving 401 opposite pipe fitting 9 of intercalation part of 9 endoporus of pipe fitting
The driving unit 402 of movement.The utility model provides bimodulus bending machine, is added to flat mouth mechanism, in bend pipe, flat mouth mechanism
Intercalation part stretches in the endoporus of pipe fitting, and flat mouth mechanism rotates together with pipe bending mechanism, to make the port of pipe fitting curved
It keeps smooth in bent process, is unlikely to deform, to improve the quality of bend pipe.And the intercalation part of flat mouth mechanism can be transported with respect to pipe fitting
Dynamic, after the completion of bending machining, intercalation part automatically resets, you can takes out the pipe fitting for completing bending machining, makes this bending machine
Processing efficiency higher.
In addition, machine is bent together using two-tube part, detent mechanism compresses two pipes to be processed simultaneously with clamping part
Part is conducive to improve efficiency.
Moreover, the intercalation part 401 is equipped with mandrel 4011, the diameter of the mandrel 4011 is slightly less than the endoporus of pipe fitting 9.
And the length of mandrel 4011 is less than the length of 9 bending section of pipe fitting, to prevent from influencing the bending of pipe fitting.
Wherein, the driving unit 402 is connect by a supporting rack 403 with the rotation section 302, and on supporting rack 403
Equipped with guide rail 404, the intercalation part 401 is mounted on by slide 405 on guide rail 404, and the driving unit 402 is equipped with and can push away
The push rod that dynamic slide 405 moves, and the driving unit 402 is oil cylinder.After the completion of bending machining, intercalation part automatically resets,
The pipe fitting for completing bending machining can be taken out, make the processing efficiency higher of this bending machine.
The rack 1 is equipped with the transmission component that driving wheel 101 and the driving driving wheel 101 rotate, the transmission
It is connected on wheel 101 with the key connection of driving wheel 101 and from the shaft that 101 both ends of driving wheel are stretched out, the rotation section 302 includes connecting
The connecting seat 3021 being connected in the shaft, the clamping part 301 are located at the side of the connecting seat 3021, and connecting seat 3021
It is equipped with the drive component that the clamping part 301 can be driven to move up and down.It is located at the clamping part 301 on the connecting seat 3021
Lower section be additionally provided with the bool 3022 that can be rotated with shaft, the bool 3022 offers semi-circular groove, the clamping part
301 lower end is equipped with the arc groove for coordinating clamping pipe fitting 9 with the semi-circular groove.When pipe fitting is to be processed, detent mechanism 2 times its
Bending section is in the semi-circular groove of bool 3022, and the semi-circular groove extends along the surface of bool, the rear end of bool
It is also designed to arc, so that semi-circular groove is can adapt to pipe fitting bending section after bending, also bending section can be prevented in the mistake of bending
It is deformed in journey, improves the quality of bend pipe.
The transmission component includes being set to drive cylinder in rack 1, the rack being connect with the drive cylinder and in institute
The second driving wheel 102 stated rack cooperation and coordinated with the driving wheel 101, and adjustable transmission is additionally provided in the rack 1
Take turns the trimming hand wheel 103 of 101 driving angles.The angle of driving wheel rotation can be adjusted by adjusting the stroke of drive cylinder, from
And adjust pipe fitting bending angle, it can be achieved that multiple angles bend pipe processing, promote the use scope of machine, and can pass through
Adjust trimming hand wheel 103 manually keeps bending angle more accurate, processing quality is more preferable to be finely adjusted angle.
It is additionally provided in the rack 1 for pipe fitting 9 to be pushed to the feed mechanism 5 at detent mechanism 2, the feed mechanism
5 include being set to the second guide rail 501 in rack 1, the Mobile base 502 on the second guide rail 501 and on Mobile base 502
The head of the core bar 503 opposite with detent mechanism 2, the core bar 503 is circular arc type.Pipe fitting is being pushed to positioning by core bar 503
After in mechanism, the head of circular arc type can be conducive to its part and head into the endoporus of pipe fitting end, and can play prevents pipe fitting from existing
The effect deformed in bending process further increases the quality of bend pipe.
Material storage mechanism 6, the storage machine are additionally provided in the rack 1 between the feed mechanism 5 and detent mechanism 2
Structure includes the storage bin 601 for storing undressed pipe fitting, and pipe fitting outlet, the storage bin are offered on the storage bin 601
It is additionally provided with guiding inclined plate positioned at pipe fitting exit on 601, the inclined surface bottom for being oriented to inclined plate is and the feed mechanism 5
Opposite position to be pushed, and it is additionally provided with the locating part that pipe fitting can be pressed on and be oriented on inclined plate on the guiding inclined plate.Machine
Be respectively provided with storage bin using both sides, and the bottom of storage bin be by the downward inclined-plane of a lateral rack intermediate, inclined, it is internal
Pipe fitting can roll to pipe fitting outlet under the effect of gravity naturally, and locating part drives briquetting by a driving unit, can will lead
It is pressed on and is oriented on inclined plate to the pipe fitting of inclined plate front end, to prevent pusher when pushing lower tubular member, the pipe on inclined plate
Part can slide, and influence machine operation, moreover, being equipped with position detector positioned at the side of the second guide rail 501 in the rack 1.When
When position detector detects that pusher resets, you can so that briquetting is unclamped, the pipe fitting being oriented on inclined plate is allowed to fall, realize automatic
Coordinate blanking, improve the degree of automation of machine, improve efficiency, in addition, position detector just uses position sensor, is formed
Switch etc..
Length adjustment component is additionally provided in the storage bin 601, the length adjustment component includes being set in storage bin 601
And with the movable plate 602 of 601 shape adaptation of storage bin and the runner that movable plate 602 can be made to be moved in storage bin 601.Pass through
Movable plate 602 is adjusted, storage bin can be enable to store the pipe fitting of different length, and pipe fitting can be made to be in parastate, no
Can be mixed and disorderly because of the change of length, and it also has been provided with identical adjustment structure on being oriented to inclined plate, prevent pipe fitting oblique along being oriented to
It is tilted during being rolled under plate.
Utility model works principle：
Pipe fitting is rolled from the storage bin of the left and right sides to from position to be pushed, and being limited part with pipe fitting is pressed on guiding inclined plate
On, the core bar of delivery device is moved to pipe fitting rear end, and pipe fitting is pushed under detent mechanism together, and the bending section of pipe fitting is from positioning
The another side of mechanism stretches out, and in the semi-circular groove of bool, the clamping part of pipe bending mechanism moves down at this time, by the curved of pipe fitting
Tune clamps, and the mandrel of flat mouth mechanism is moved by hydraulic oil cylinder driving to pipe fitting direction, and stretches to the endoporus of pipe fitting, then
Rotation section starts to rotate, and clamping part, bool, flat mouth mechanism is driven to rotate be bent to pipe fitting bending section together, curved
It after song is complete, is moved after the mandrel of flat mouth mechanism, leaves the endoporus of pipe fitting, and clamping part is moved far from pipe fitting, bending at this time is completed
Pipe fitting can be extracted out from detent mechanism, detach rear rotation section and reset, and delivery device also resets, position detector detection
After being resetted to delivery device, locating part is made to move up, the pipe fitting being oriented on inclined plate is allowed to fall, realizes cyclic process.
The utility model provides bimodulus bending machine, is added to flat mouth mechanism, and in bend pipe, flat mouth mechanism intercalation part stretches into
Into the endoporus of pipe fitting, and flat mouth mechanism rotates together with pipe bending mechanism, to make the port of pipe fitting during bending
It keeps smooth, is unlikely to deform, to improve the quality of bend pipe.And the intercalation part of flat mouth mechanism can be moved with respect to pipe fitting, be bent
After processing is completed, intercalation part automatically resets, you can takes out the pipe fitting for completing bending machining, makes the processing efficiency of this bending machine more
It is high.Also there is delivery device on bimodulus bending machine, pipe fitting is pushed to by bending position using core bar, and in bending machining process
In, core bar heads into the endoporus of pipe fitting rear end, can effectively prevent the Internal Hole Deformation of pipe fitting during bending machining, to further
Improve the quality of bend pipe.
It is the one or more embodiments for combining particular content to provide as described above, does not assert the tool of the utility model
Body implementation is confined to these explanations.It is all approximate with the method for the utility model, structure etc., identical or new for this practicality
Several technologies are made under type concept thereof to deduce, or are replaced and all be should be considered as the scope of protection of the utility model.
Claims (10)
1. bimodulus bending machine, including rack (1), the rack (1) be equipped with detent mechanism (2) for positioning pipe fitting (9),
It is used to carry out one end of pipe fitting (9) pipe bending mechanism (3) of bending machining positioned at detent mechanism (2) side, which is characterized in that institute
Pipe bending mechanism (3) is stated to include the clamping part (301) that pipe fitting (9) end can be clamped and drive the clamping part (301) in machine
Rotation makes the rotation section (302) of the clamped end bending of pipe fitting (9) on frame (1), and being additionally provided on the rack (1) can be with the rotation
The flat mouth mechanism (4) of portion (302) rotation, the flat mouth mechanism (4) include the intercalation part (401) that can stretch to pipe fitting (9) endoporus
And the driving intercalation part (401) is with respect to the driving unit (402) of pipe fitting (9) movement.
2. bimodulus bending machine according to claim 1, which is characterized in that the intercalation part (401) is equipped with mandrel
(4011), the diameter of the mandrel (4011) is slightly less than the endoporus of pipe fitting (9).
3. bimodulus bending machine according to claim 2, which is characterized in that the driving unit (402) passes through a supporting rack
(403) it is connect with the rotation section (302), and supporting rack (403) is equipped with guide rail (404), the intercalation part (401) passes through cunning
Seat (405) is mounted on guide rail (404), and the driving unit (402) is equipped with the push rod that slide (405) can be pushed to move, and
The driving unit (402) is oil cylinder.
4. bimodulus bending machine according to claim 1, which is characterized in that the rack (1) be equipped with driving wheel (101) with
And the transmission component of driving wheel (101) rotation is driven, it is connected on the driving wheel (101) and connects with driving wheel (101) key
It connects and from the shaft that driving wheel (101) both ends are stretched out, the rotation section (302) includes the connecting seat being connected in the shaft
(3021), the clamping part (301) is located at the side of the connecting seat (3021), and connecting seat (3021) is equipped with can drive institute
State the drive component of clamping part (301) up and down motion.
5. bimodulus bending machine according to claim 4, which is characterized in that be located at the clamping on the connecting seat (3021)
Semi-circular groove can be offered with the bool (3022) that shaft rotates, the bool (3022) by being additionally provided with below portion (301),
The lower end of the clamping part (301) is equipped with the arc groove for coordinating clamping pipe fitting (9) with the semi-circular groove.
6. bimodulus bending machine according to claim 4, which is characterized in that the transmission component includes being set in rack (1)
Drive cylinder, the rack being connect with the drive cylinder and in the rack coordinate and with the driving wheel (101) cooperation
Second driving wheel (102), and the trimming hand wheel of adjustable driving wheel (101) driving angle is additionally provided in the rack (1)
(103)。
7. bimodulus bending machine according to claim 1, which is characterized in that be additionally provided on the rack (1) for by pipe fitting
(9) feed mechanism (5) at detent mechanism (2) is pushed to, the feed mechanism (5) includes that second be set in rack (1) is led
Rail (501), the Mobile base (502) being set on the second guide rail (501) and on the Mobile base (502) and detent mechanism (2) phase
To core bar (503), the head of the core bar (503) is circular arc type.
8. bimodulus bending machine according to claim 7, which is characterized in that be located at the second guide rail (501) on the rack (1)
Side be equipped with position detector.
9. bimodulus bending machine according to claim 7, which is characterized in that be located at the feed mechanism on the rack (1)
(5) material storage mechanism (6) is additionally provided between detent mechanism (2), the material storage mechanism includes the storage for storing undressed pipe fitting
Feed bin (601) offers pipe fitting outlet on the storage bin (601), is also set positioned at pipe fitting exit on the storage bin (601)
There is guiding inclined plate, the inclined surface bottom for being oriented to inclined plate is the to be pushed position opposite with the feed mechanism (5), and described
It is oriented to the locating part for being additionally provided on inclined plate and pipe fitting being pressed on and being oriented on inclined plate.
10. bimodulus bending machine according to claim 9, which is characterized in that be additionally provided with length tune in the storage bin (601)
Save component, the length adjustment component include be set to storage bin (601) it is interior and with the movable plate of storage bin (601) shape adaptation
(602) and runner that movable plate (602) can be made to be moved in storage bin (601).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421637.3U CN207642071U (en) | 2017-10-30 | 2017-10-30 | Bimodulus bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721421637.3U CN207642071U (en) | 2017-10-30 | 2017-10-30 | Bimodulus bending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207642071U true CN207642071U (en) | 2018-07-24 |
Family
ID=62884091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721421637.3U Expired - Fee Related CN207642071U (en) | 2017-10-30 | 2017-10-30 | Bimodulus bending machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207642071U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109277443A (en) * | 2018-11-28 | 2019-01-29 | 安徽德系重工科技有限公司 | A kind of three dimensional curvature bending machine and its application method |
| CN109500163A (en) * | 2018-12-10 | 2019-03-22 | 三之信（天津）自动化设备有限公司 | A kind of full-automatic pipe fitting bending machine |
| CN110666012A (en) * | 2019-10-11 | 2020-01-10 | 含山县荣源金属制品有限公司 | Copper pipe bending machine |
| CN110773666A (en) * | 2019-10-16 | 2020-02-11 | 武汉泰诺福伦机械有限公司 | Double-station synchronous automatic pipe bending machine |
| 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 |
-
2017
- 2017-10-30 CN CN201721421637.3U patent/CN207642071U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109277443A (en) * | 2018-11-28 | 2019-01-29 | 安徽德系重工科技有限公司 | A kind of three dimensional curvature bending machine and its application method |
| CN109500163A (en) * | 2018-12-10 | 2019-03-22 | 三之信（天津）自动化设备有限公司 | A kind of full-automatic pipe fitting bending machine |
| CN109500163B (en) * | 2018-12-10 | 2024-05-14 | 三之信（天津）自动化设备有限公司 | Full-automatic pipe fitting bender |
| CN110666012A (en) * | 2019-10-11 | 2020-01-10 | 含山县荣源金属制品有限公司 | Copper pipe bending machine |
| CN110773666A (en) * | 2019-10-16 | 2020-02-11 | 武汉泰诺福伦机械有限公司 | Double-station synchronous automatic pipe bending machine |
| CN110773666B (en) * | 2019-10-16 | 2021-09-17 | 武汉泰诺福伦机械有限公司 | Double-station synchronous automatic pipe bending machine |
| 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 |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180724 Termination date: 20211030 |
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| CF01 | Termination of patent right due to non-payment of annual fee |