EP0204290B2 - A sheetmetal rolling machine for making a conical shell from a sheetmetal blank - Google Patents

A sheetmetal rolling machine for making a conical shell from a sheetmetal blank Download PDF

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Publication number
EP0204290B2
EP0204290B2 EP86107426A EP86107426A EP0204290B2 EP 0204290 B2 EP0204290 B2 EP 0204290B2 EP 86107426 A EP86107426 A EP 86107426A EP 86107426 A EP86107426 A EP 86107426A EP 0204290 B2 EP0204290 B2 EP 0204290B2
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EP
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Prior art keywords
workpiece
roller
bending
sheet
conical shell
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EP86107426A
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German (de)
French (fr)
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EP0204290B1 (en
EP0204290A2 (en
EP0204290A3 (en
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Hans Zeugin
Heinz Ludwig
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Chr Haeusler AG
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Chr Haeusler AG
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Priority to AT86107426T priority Critical patent/ATE47676T1/en
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    • 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/14—Bending sheet metal along straight lines, e.g. to form simple curves by passing between rollers

Definitions

  • 3-roll machines or 4-roll machines are used, which form the cut sheet, which has two arched edges of different lengths arranged opposite one another, in one or more passages to form the cone. Since the surface lines of a cone are not parallel to each other, the sheet must not be moved straight through the machines; it must change its direction much more continuously such that the surface lines always run parallel to the roller axes, or, which is synonymous, so that that point of each curved edge which is between the transport rollers always indicates the direction of advance.
  • the conventional roll-sheet metal rounding machines have a brake shoe against which the shorter of the two curved edges rests and from which it is braked, so that the change in direction is ensured.
  • the roll sheet metal rounding machine which is provided with two superposed feed rolls, the lower of which can be pivoted to open the roll gap on one side, and at least one laterally offset with respect to the feed rolls and which can be moved obliquely up and down relative to them , it is now possible to get by without a brake shoe causing the edge upsetting, since it is characterized by a clamping device acting on the shorter of the two curved edges for braking the workpiece feed and a computing unit controlling this clamping device and the roll feed, to which the size or the number of Feed steps as well as those sizes with which the geometry of the cone jacket to be produced can be determined, so that the workpiece to be machined is gradually shifted and ver by the interaction of the feed roller and the clamping device is pivoted that between two feed steps by moving a bending roller upwards, a step-by-step bending of the sheet metal plate, which is then held by the feed rollers then placed in parallel, can always take place perpendicular to the surface line.
  • the rollers serving as feed rollers are displaced in such a way that the roll gap opens to one side in such a way that the rollers clamp the workpiece only at a relatively narrow point on the longer of the two arcuate edges, so that it is not held in the remaining area and can be pivoted relatively easily, it is possible to keep the forces acting on the workpiece edge so small that they do not damage this edge even if it is already designed as a welding edge.
  • the two transport rollers are then returned to their original position, in which they run parallel to each other and hold the workpiece along the entire surface line so that it does not shift during the subsequent bending process.
  • 1 denotes the top roller, 2 the bottom roller, 3 and 4 the two side rollers.
  • the workpiece ie here the finished machined cone jacket, is designated by 5.
  • the bearings of the individual rollers are not shown, and it is known to mount the top roller in such a way that one of its bearings can be folded down so that the finished workpiece can be removed from the machine.
  • the hydraulic cylinders which are used to move the roller bearings and which are shown as if they were attacking the geometric axes of the rollers are only indicated schematically.
  • the hydraulic cylinders of the lower roller are designated with 21 and 22, those of the side rollers with 31 and 32 and 41 respectively.
  • the second cylinder belonging to the side roller 4 is not visible in the drawing. Also not shown in the drawing are the drive elements of the top roller and the bottom roller.
  • a metal plate tailored for the production of a cone serves as the workpiece. If a straight cone is to be made, then the plate points two concentric, arcuate edges and two straight edges connecting these edges, the extensions of which intersect at the center of the arcuate edges. If a slanted cone is to be produced or a cone with a non-circular cross section, the workpiece naturally has a somewhat different shape, known per se.
  • the workpiece 5 is, as usual, inserted into the roll plate rounding machine and held on the entire length of the workpiece between the upper roll 1 and the lower roll 2. Then its free edge is bent by infeed of the side roller 3 serving as a bending roller. Then the side roller 3 is removed again from the workpiece 5 and the lower roller 2 is pivoted such that the gap opens in the direction toward the hydraulic cylinder 21, as can be seen from FIG. 1, where only the longer arcuate edge 5a of the workpiece 5 is clamped between the two rollers 1 and 2. Now the workpiece is advanced a very small distance by turning the rollers.
  • a controllable clamping device (not shown) causes the workpiece to pivot so that the surface lines of the workpiece to be generated are located between the two transport rollers 1 and 2.
  • a measuring roller or an optical scanning device that is to say a reading device for reading surface lines drawn on the workpiece, in order to measure the feed at the shorter of the two arcuate edges.
  • the size of this feed can be compared with the feed caused by the roller rotation on the longer arcuate edge. If the ratio determined in this way does not correspond to the ratio of the lengths of the two arcuate edges entered, the opening angle of the gap between the rollers is changed or the clamping device is actuated in order to obtain the correct relationship between feed and pivoting. Since such calculation values, which issue control commands when the measured values deviate from an entered target value, are known per se, they are not described in more detail here.
  • the transport rollers can be brought back to their starting position, in which they are arranged axially parallel, so that the workpiece is held evenly over its entire length and the infeed of the lateral bending roller 3 causing the curvature of the workpiece does not cause the workpiece to move between the rollers 1 and 2 results.
  • the transport rollers are adjusted again and a transport step is carried out, followed by another bending step.

Abstract

A method of producing a conical shell from a metal sheet cut to size. The method includes feeding the sheet in a nip between two transport rollers an incremental distance between respective positions in which nonparallel straight line generatrices on the sheet defining the shell to be produced are in an aligned with the nip, translating a bending roller into engagement with the sheet to incrementally bend the sheet in a direction perpendicular to the generatrix between the nip, then retracting the bending roller away from the sheet, and successively repeating the above steps until the sheet is in the shape of the conical shell to be produced.

Description

Zum Herstellen von Konen aus zugeschnittenen Blechplatten werden 3-Walzenmaschinen oder 4-Walzenmaschinen benützt, die das zugeschnittene Blech, das zwei einander gegenüber angeordnete, bogenförmige Ränder unterschiedlicher Länge aufweist, in einem oder mehreren Durchgängen zum Konus formen. Da die Mantellinien bei einem Konus nicht zueinander parallel verlaufen, darf das Blech nicht gerade durch die Maschinen bewegt werden; es muß viel mehr kontinuierlich seine Richtung derart ändern, daß die Mantellinien stets parallel zu den Walzenachsen verlaufen, oder, was gleichbedeutend ist, so, daß diejenige Stelle jedes gebogenen Randes, die sich zwischen den Transportwalzen befindet, stets die Vorschubrichtung angibt. Zu diesem Zweck weisen die üblichen Walzen-Blechrundmaschinen einen Bremsschuh auf, an welchem der kürzere der beiden gebogenen Ränder anliegt und von welchem er gebremst wird, so dass die Richtungsänderung gewährleistet ist. Eine derartige Blech-Rundbiegemaschine mit vier Walzen ist aus der DE-B 1 917 219 bekannt. Die Blechbearbeitung mit derartigen Maschinen hat jedoch den bekannten Nachteil, dass der Bremsschuh grosse Kräfte auf das Werkstück ausübt, so dass die Möglichkeit besteht, dass der bogenförmige Rand aufgestaucht wird. Dies ist besonders dann unzweckmässig, wenn er bereits vor dem Biegen als einigermassen spitz auslaufende Schweisskante ausgebildet werden sollte, weil ein derart geschwächter Rand den Stauchkräften stets nachgibt, so dass vor dem Biegen am betreffenden Rand keine Schweisskantenvorbereitung vorgenommen werden kann. Mit dem speziellen Bremsschuh nach der DE-B 1 917 219 war es zwar möglich, die Verformungsgefahr zu verringern, aber nicht in allen Fällen völlig zu vermeiden.For the production of cones from cut sheet metal plates, 3-roll machines or 4-roll machines are used, which form the cut sheet, which has two arched edges of different lengths arranged opposite one another, in one or more passages to form the cone. Since the surface lines of a cone are not parallel to each other, the sheet must not be moved straight through the machines; it must change its direction much more continuously such that the surface lines always run parallel to the roller axes, or, which is synonymous, so that that point of each curved edge which is between the transport rollers always indicates the direction of advance. For this purpose, the conventional roll-sheet metal rounding machines have a brake shoe against which the shorter of the two curved edges rests and from which it is braked, so that the change in direction is ensured. Such a sheet metal bending machine with four rollers is known from DE-B 1 917 219. Sheet metal processing with such machines, however, has the known disadvantage that the brake shoe exerts large forces on the workpiece, so that there is the possibility that the arcuate edge is upset. This is particularly unsuitable if it should already be formed as a somewhat pointed welding edge before bending, because such a weakened edge always yields to the compression forces, so that no welding edge preparation can be carried out on the relevant edge before bending. With the special brake shoe according to DE-B 1 917 219 it was possible to reduce the risk of deformation, but not to avoid it completely in all cases.

Bei der Walzen-Blechrundmaschine nach der vorliegenden Erfindung, die mit zwei übereinander angeordneten Vorschubwalzen, von denen die untere zum einseitigen Öffnen des Walzspaltes verschwenkbar ist, und mindestens einer in bezug auf die Vorschubwalzen seitlich versetzten und gegenüber diesen schräg auf und abwärts verfahrbaren Biegewalze versehen ist, ist es nun möglich, ohne einen die Randaufstauchung bewirkenden Bremsschuh auszukommen, da sie durch ein zum Bremsen des Werkstückvorschubes am kürzeren der beiden bogenförmigen Ränder angreifende Klemmvorrichtung und ein diese Klemmvorrichtung und den Walzenvorschub steuerndes Rechenwerk gekennzeichnet ist, welchem man die Grösse oder die Anzahl der Vorschubschritte sowie diejenigen Grössen, mit denen sich die Geometrie des herzustellenden Konusmantels bestimmen lässt, eingeben kann, damit durch das Zusammenwirken derVorschubwalze und der Klemmvorrichtung das zu bearbeitende Werkstück schrittweise derart verschoben und verschwenkt wird, dass zwischen zwei Vorschubschritten durch das Aufwärtsfahren einer Biegewalze ein schrittweises Biegen der durch die dann parallel gestellten Vorschubwalzen festgehaltene Blechplatte stets senkrecht zur Mantellinie erfolgen kann. Zweckmässigerweise ist das Rechenwerk mit einem Lesegerät zum Lesen von auf dem Werkstück eingezeichneten Mantellinien versehen.In the roll sheet metal rounding machine according to the present invention, which is provided with two superposed feed rolls, the lower of which can be pivoted to open the roll gap on one side, and at least one laterally offset with respect to the feed rolls and which can be moved obliquely up and down relative to them , it is now possible to get by without a brake shoe causing the edge upsetting, since it is characterized by a clamping device acting on the shorter of the two curved edges for braking the workpiece feed and a computing unit controlling this clamping device and the roll feed, to which the size or the number of Feed steps as well as those sizes with which the geometry of the cone jacket to be produced can be determined, so that the workpiece to be machined is gradually shifted and ver by the interaction of the feed roller and the clamping device is pivoted that between two feed steps by moving a bending roller upwards, a step-by-step bending of the sheet metal plate, which is then held by the feed rollers then placed in parallel, can always take place perpendicular to the surface line. The arithmetic unit is expediently provided with a reading device for reading surface lines drawn on the workpiece.

Dadurch, dass bei dieser Maschine, bei welcher das Vorschieben und das Biegen in getrennten, einander folgenden, kleinen Schritten durchgeführt wird, die zum Verschieben des Werkstückes als Vorschubwalzen dienenden Walzen derart verstellt werden, dass sich der Walzspalt nach einer Seite hin so öffnet, dass die Walzen das Werkstück nur an einer verhältnismässig schmalen Stelle am längeren der beiden bogenförmigen Ränder festklemmen, so dass es im übrigen Bereich nicht festgehalten wird und sich verhältnismässig leicht verschwenken lässt, ist es möglich, die auf den Werkstückrand einwirkenden Kräfte so klein zu halten, dass sie auch dann diesen Rand nicht beschädigen, wenn er bereits als Schweisskante ausgebildet ist. Nach jedem Vorschubschritt werden dann die beiden Transportwalzen wieder in die ursprüngliche Lage zurückgestellt, in der sie zueinander parallel verlaufen und das Werkstück auf der ganzen Mantellinie festhalten, damit es sich beim nachfolgenden Biegevorgang nicht verschiebt.Characterized in that in this machine, in which the advancement and bending is carried out in separate, successive, small steps, the rollers serving as feed rollers are displaced in such a way that the roll gap opens to one side in such a way that the rollers clamp the workpiece only at a relatively narrow point on the longer of the two arcuate edges, so that it is not held in the remaining area and can be pivoted relatively easily, it is possible to keep the forces acting on the workpiece edge so small that they do not damage this edge even if it is already designed as a welding edge. After each feed step, the two transport rollers are then returned to their original position, in which they run parallel to each other and hold the workpiece along the entire surface line so that it does not shift during the subsequent bending process.

Nachfolgend werden anhand der Zeichnung Ausführungsbeispiele der Erfindung beschrieben.

  • Die Figur 1 zeigt rein schematisch eine 4-Walzen-Biegemaschine in perspektivischer Darstellung, mit einem fertig bearbeiteten Werkstück und
  • die Figur 2 einen schematischen Querschnitt durch die Maschine kurz nach Beginn des Verformens.
Exemplary embodiments of the invention are described below with reference to the drawing.
  • Figure 1 shows purely schematically a 4-roll bending machine in perspective, with a finished workpiece and
  • 2 shows a schematic cross section through the machine shortly after the start of the deformation.

In der Zeichnung bezeichnet 1 die Oberwalze, 2 die Unterwalze, 3 und 4 die beiden Seitenwalzen. Mit 5 ist das Werkstück, also hier der fertig bearbeitete Konusmantel bezeichnet. Die Lager der einzelnen Walzen sind nicht dargestellt, wobei es bekannt ist, die Oberwalze so zu lagern, dass sich eines ihrer Lager nach unten abklappen lässt, damit das fertig bearbeitete Werkstück aus der Maschine herausgenommen werden kann.In the drawing, 1 denotes the top roller, 2 the bottom roller, 3 and 4 the two side rollers. The workpiece, ie here the finished machined cone jacket, is designated by 5. The bearings of the individual rollers are not shown, and it is known to mount the top roller in such a way that one of its bearings can be folded down so that the finished workpiece can be removed from the machine.

Nur rein schematisch sind die Hydraulikzylinder angedeutet, die zum Verschieben der Walzenlager dienen, und die so dargestellt sind, als würden sie an den geometrischen Achsen der Walzen angreifen. Die Hydraulikzylinder der Unterwalze sind mit 21 und 22 bezeichnet, diejenigen der Seitenwalzen mit 31 und 32 bzw. 41. Der zweite zur Seitenwalze 4 gehörende Zylinder ist in der Zeichnung nicht sichtbar. Ebenfalls nicht dargestellt in der Zeichnung sind die Antriebsorgane der Oberwalze und der Unterwalze.The hydraulic cylinders which are used to move the roller bearings and which are shown as if they were attacking the geometric axes of the rollers are only indicated schematically. The hydraulic cylinders of the lower roller are designated with 21 and 22, those of the side rollers with 31 and 32 and 41 respectively. The second cylinder belonging to the side roller 4 is not visible in the drawing. Also not shown in the drawing are the drive elements of the top roller and the bottom roller.

Als Werkstückdienteinefürdie Herstellung eines Konus zugeschnittene Metallplatte. Wenn ein gerader Kegelkonus herzustellen ist, dann weist die Platte zwei zueinander konzentrische, bogenförmige Ränder und zwei diese Ränder verbindende, gerade Ränder auf, deren Verlängerungen sich im Zentrum der bogenförmigen Ränder schneiden. Falls ein schiefer Konus herzustellen ist oder ein Konus mit einem nicht kreisförmigen Querschnitt, so hat das Werkstück natürlich eine etwas andere, an sich bekannte Form.A metal plate tailored for the production of a cone serves as the workpiece. If a straight cone is to be made, then the plate points two concentric, arcuate edges and two straight edges connecting these edges, the extensions of which intersect at the center of the arcuate edges. If a slanted cone is to be produced or a cone with a non-circular cross section, the workpiece naturally has a somewhat different shape, known per se.

Das Werkstück 5 wird wie üblich in die Walzen-Blechrundmaschine eingeführt und zwischen der Oberwalze 1 und der Unterwalze 2 auf der ganzen Werkstücklänge festgehalten. Dann wird sein freier Rand durch Zustellen der als Biegewalze dienenden Seitenwalze 3 angebogen. Alsdann wird die Seitenwalze 3 wieder vom Werkstück 5 entfernt und es wird die Unterwalze 2 so verschwenkt, dass sich der Spalt in Richtung gegen den hydraulischen Zylinder 21 öffnet, wie das aus der Figur 1 ersichtlich ist, wo nur der längere bogenförmige Rand 5a des Werkstückes 5 satt zwischen den beiden Walzen 1 und 2 eingeklemmt ist. Nun wird das Werkstück durch Drehen der Walzen ein sehr kleines Stück weit vorgeschoben. Eine nicht gezeichnete steuerbare Klemmvorrichtung bewirkt dabei ein Verschwenken des Werstückes so, dass sich die zu erzeugenden Mantellinien des Werkstückes zwischen den beiden Transportwalzen 1 und 2 befinden. Es ist möglich, zusätzlich zur Klemmvorrichtung eine Messrolle oder eine optische Abtastvorrichtung, also ein Lesegerät zum Lesen von auf dem Werkstück eingezeichneten Mantellinien zu verwenden, um den Vorschub am kürzeren der beiden bogenförmigen Ränder zu messen. Im Rechenwerk lässt sich das Mass dieses Vorschubs mit dem durch die Walzendrehung bewirkten Vorschub am längeren bogenförmigen Rand vergleichen. Wenn das so bestimmte Verhältnis nicht mit dem Rechenwerk eingegebenen Verhältnis der Längen der beiden bogenförmigen Ränder übereinstimmt, wird der Öffnungswinkel des Spaltes zwischen den Walzen geändert oder die Klemmvorrichtung betätigt, um das richte Verhältnis zwischen Vorschub und Verschwenkung zu erhalten. Da derartige Rechenwerte, die beim Abweichen der Messwerte von einem eingegebenen Sollwert Steuerbefehle erteilen, an sich bekannt sind, werden sie hier nicht näher beschrieben.The workpiece 5 is, as usual, inserted into the roll plate rounding machine and held on the entire length of the workpiece between the upper roll 1 and the lower roll 2. Then its free edge is bent by infeed of the side roller 3 serving as a bending roller. Then the side roller 3 is removed again from the workpiece 5 and the lower roller 2 is pivoted such that the gap opens in the direction toward the hydraulic cylinder 21, as can be seen from FIG. 1, where only the longer arcuate edge 5a of the workpiece 5 is clamped between the two rollers 1 and 2. Now the workpiece is advanced a very small distance by turning the rollers. A controllable clamping device (not shown) causes the workpiece to pivot so that the surface lines of the workpiece to be generated are located between the two transport rollers 1 and 2. In addition to the clamping device, it is possible to use a measuring roller or an optical scanning device, that is to say a reading device for reading surface lines drawn on the workpiece, in order to measure the feed at the shorter of the two arcuate edges. In the arithmetic unit, the size of this feed can be compared with the feed caused by the roller rotation on the longer arcuate edge. If the ratio determined in this way does not correspond to the ratio of the lengths of the two arcuate edges entered, the opening angle of the gap between the rollers is changed or the clamping device is actuated in order to obtain the correct relationship between feed and pivoting. Since such calculation values, which issue control commands when the measured values deviate from an entered target value, are known per se, they are not described in more detail here.

Es ist auch möglich, auf dem Werkstück Mantellinien oder die Enden von Mantellinien des zu erzeugenden Konusmantels einzuzeichnen und das Rechenwerk mit einer optischen Ablesevorrichtung zu versehen, die ihm die nötigen Informationen gibt, damit dieses die Transportwalzen und die Klemmvorrichtung erfindungsgemäss so steuert, dass das Werstück zwischen zwei Biege-Operationen derart schrittweise vorgeschoben und gleichzeitig verschwenkt wird, dass die Biege-Operation jeweilen bei einer eingezeichneten Mantellinie erfolgt. Nach jedem Vorschubschritt werden kann die Transportwalzen wieder in ihre Ausgangslage gebracht, in welcher sie achsparallel angeordnet sind, so dass das Werkstück auf seiner ganzen Länge gleichmässig festgehalten wird und das Zustellen der die Krümmung des Werkstückes bewirkenden seitlichen Biegewalze 3 keine Verschiebung des Werkstückes zwischen den Walzen 1 und 2 zur Folge hat. Nach dem Biegeschritt erfolgt erneut ein Verstellen der Transportwalzen und ein Transportschritt, anschliessend wieder ein Biegeschritt.It is also possible to draw on the workpiece surface lines or the ends of surface lines of the cone shell to be produced and to provide the arithmetic unit with an optical reading device which gives it the necessary information so that it controls the transport rollers and the clamping device according to the invention in such a way that the workpiece between two bending operations is gradually advanced and pivoted at the same time that the bending operation takes place in each case with a drawn surface line. After each feed step, the transport rollers can be brought back to their starting position, in which they are arranged axially parallel, so that the workpiece is held evenly over its entire length and the infeed of the lateral bending roller 3 causing the curvature of the workpiece does not cause the workpiece to move between the rollers 1 and 2 results. After the bending step, the transport rollers are adjusted again and a transport step is carried out, followed by another bending step.

Claims (2)

1. Roller sheet metal bending machine, which serves to produce a conical shell from a metal plate cut to size, with two advancing rollers (1,2), which are arranged one above the other and the lower one of which is pivotable for the opening of the roll gap at one end, and at least one bending roller (3, 4), which is displaced laterally with respect to the advancing rollers (1, 2) and movable obliquely upwards and downwards relative to these, characterised by a clamping device, which for the braking of the advance of the workpiece engages at the shorter of the two arcuate rims, and an arithmetic unit, which controls this clamping device and the roller advance and into which one can enter the size or the number of the advancing steps as well as those magnitudes, by which the geometry of the conical shell to be produced can be determined, in order that the workpiece to be treated is displaced and pivoted in stepwise manner by the co-operation of the advancing rollers (1, 2) and the clamping device in such a manner that between two advancing steps and by the upward movement of a bending roller a stepwise bending of the metal plate held fast by the then parallelly set advancing rollers (1, 2) can always take place perpendicularly to the generatrix.
2. Roller sheet metal bending machine according to claim 1, characterised thereby, that the arithmetic unit comprises a reading apparatus for the reading of generatrices drawn on the workpiece.
EP86107426A 1985-06-04 1986-06-02 A sheetmetal rolling machine for making a conical shell from a sheetmetal blank Expired - Lifetime EP0204290B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT86107426T ATE47676T1 (en) 1985-06-04 1986-06-02 PROCESS FOR MANUFACTURING A CONUS SHELL USING A ROLLER SHEET METAL ROUNDING MACHINE AND MACHINE FOR CARRYING OUT THE PROCESS.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2356/85 1985-06-04
CH235685 1985-06-04

Publications (4)

Publication Number Publication Date
EP0204290A2 EP0204290A2 (en) 1986-12-10
EP0204290A3 EP0204290A3 (en) 1987-05-27
EP0204290B1 EP0204290B1 (en) 1989-11-02
EP0204290B2 true EP0204290B2 (en) 1993-09-15

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EP86107426A Expired - Lifetime EP0204290B2 (en) 1985-06-04 1986-06-02 A sheetmetal rolling machine for making a conical shell from a sheetmetal blank

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US (1) US4735076A (en)
EP (1) EP0204290B2 (en)
AT (1) ATE47676T1 (en)
DE (1) DE3666673D1 (en)

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Also Published As

Publication number Publication date
EP0204290B1 (en) 1989-11-02
ATE47676T1 (en) 1989-11-15
US4735076A (en) 1988-04-05
EP0204290A2 (en) 1986-12-10
EP0204290A3 (en) 1987-05-27
DE3666673D1 (en) 1989-12-07

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