EP1955789A1 - Cintreuse - Google Patents

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Publication number
EP1955789A1
EP1955789A1 EP07002654A EP07002654A EP1955789A1 EP 1955789 A1 EP1955789 A1 EP 1955789A1 EP 07002654 A EP07002654 A EP 07002654A EP 07002654 A EP07002654 A EP 07002654A EP 1955789 A1 EP1955789 A1 EP 1955789A1
Authority
EP
European Patent Office
Prior art keywords
bending
bending machine
gripper
workpiece
base frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07002654A
Other languages
German (de)
English (en)
Other versions
EP1955789B1 (fr
Inventor
Peter Hammerer
Bernd Eppler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wafios AG
Original Assignee
Wafios AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wafios AG filed Critical Wafios AG
Priority to AT07002654T priority Critical patent/ATE481190T1/de
Priority to DE502007005038T priority patent/DE502007005038D1/de
Priority to ES07002654T priority patent/ES2347913T3/es
Priority to EP07002654A priority patent/EP1955789B1/fr
Priority to JP2008021296A priority patent/JP4808737B2/ja
Priority to US12/027,746 priority patent/US7891225B2/en
Publication of EP1955789A1 publication Critical patent/EP1955789A1/fr
Application granted granted Critical
Publication of EP1955789B1 publication Critical patent/EP1955789B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • 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
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F1/00—Bending wire other than coiling; Straightening wire

Definitions

  • the invention relates to a bending machine with a work area for bending elongated workpieces, in particular of wires, pipes, rods or the like., Which are supplied by a delivery device.
  • the DE 19628392 A1 describes a bending machine in which two bending towers and a central gripping unit are mounted on a machine bed.
  • the bending towers as well as the gripping unit can be moved on the machine bed.
  • rotatable bending heads are mounted around the workpiece axis.
  • this known bending machine however, only bends in the workpiece axis can be performed, always additional supply and discharge units are needed.
  • a large number of gear elements are needed to operate the bending heads and the gripping unit limits the bending space in the working area of the machine.
  • each gripping unit is provided with two grippers, which can grip on both sides of a flexible part.
  • the bending head is attached to a kind of robot, which can be designed very differently.
  • the first gripping unit removes the workpiece from a feeder and pivots it into the work area (bending area) of the bending machine. There, the first half of the workpiece is bent. With the second gripping unit, the workpiece can then be rotated by 180 °, after which then the other half of the workpiece can be provided with bends.
  • this known bending machine has only a relatively low power.
  • the bending head used only allows the drawing bending process.
  • the overall machine is very complicated in construction.
  • a handling device for bars in a bending plant is from the DE 603 01 913 T2 known.
  • the grippers are also pivotable about an axis parallel to the workpiece axis.
  • the bending heads are also movably mounted on a guide bed.
  • the gantry structure of the transport device requires a very large amount of space.
  • the grippers can not be moved independently of each other to the delivery device (magazine), which in turn reduces the performance of the known machine.
  • a plurality of bending stations is used in succession, which are arranged hanging from above, which in turn requires a relatively large frame.
  • a plurality of pivoting grippers are provided for transferring the workpieces between the individual bending stations, wherein the gripping mechanism executes a curved path to pick up the pipe from the previous station and pass it on to the downstream station after bending.
  • the large frame here is also a disadvantage that no additional fixation of the workpiece is provided in addition to the swivel gripper used in each case.
  • a bending machine for machining workpieces in several stations, each station having a central gripping unit and two laterally mounted therefrom bending heads.
  • the bending heads and the gripping unit are each movable on a common guide bed.
  • a pivotable transfer device is also provided, with which each workpiece can be pivoted from the first station to the second parallel station.
  • This transfer device can also be the gripping unit at the same time.
  • the machine works serially out of a magazine. Due to the almost closed, round bending head disc of the known bending machine, however, bends greater than 90 ° are not possible, and sometimes even a boom is used as a bending tool. This creates long straight sections in the middle of a workpiece. The inserted bending head allows only a roll bending.
  • the present invention seeks to provide a bending machine, which is particularly suitable for bending elongate workpieces, the high performance and space-saving and relatively simple design and the machining of workpieces with multiple flexible sections and pre-assembled workpieces (with nuts , Sleeves, etc. are provided).
  • a bending machine with a work area for bending elongate workpieces, in particular of wires, tubes, etc., which are supplied by a delivery device, with a base frame, which has a front side facing the delivery device and a rear side facing away from this, wherein the base frame in the work area two bending robots on a common, centrally mounted on the base guide rail parallel to the longitudinal direction of the base frame movably arranged and further - viewed in the longitudinal direction of the base frame - at the front of the base frame approximately in the middle of a holding forceps and on both sides thereof in each case parallel to the bending robots movable auxiliary gripper and on the back of the base frame also approximately centrally, but laterally offset to the holding forceps, an outlet gripper are provided, wherein the auxiliary gripper, the holding forceps and the discharge gripper in each case in an inner pivoting position in which they hold in the working area of the bending machine above the guideway and between two bending robots each a workpiece
  • the bending machine In the case of the bending machine according to the invention, initially there is a central construction of the machine concept: all working units are attached to the central base frame. Due to the arrangement of the common for the two bending robot track centrally on the base frame and the side thereof provided arrangement of the gripping and holding forceps on the front or back of the base frame is given the possibility that in the work area, the two bending robots, which also centered sitting on the base frame, are not disturbed in their process by the laterally mounted gripping devices or the holding gripper. The grippers can be moved completely independently of each other, but of course the auxiliary grippers can also be moved in parallel with the bending robots.
  • the bending machine With the bending machine according to the invention, it is possible, even long workpieces (in a length of up to 6 m), such as lines, pipes, rods, wires, rods, flex cables, etc. can be bent quickly and inexpensively.
  • the delivered by the delivery device workpieces are at least by means of the two auxiliary gripper, possibly also additionally detected by the holding forceps, and then pivoted into the work area at the top of the base frame above the track for the bending robot. There then the workpiece can be provided by the two bending robots from its two end sides towards the center with bends, the bending robots are designed so that they are arbitrarily positioned to the workpiece and this can bend in any plane.
  • the machined workpiece After execution of the desired bending operations then the machined workpiece is detected in the work area of the swung-out there, out of the holding forceps released and then discharged from the outlet gripper by pivoting to a downstream acceptance device.
  • the bending machine according to the invention represents a fast-working and flexibly usable production unit for bending the workpieces, in addition to the machining of long workpieces but also shorter workpieces can be bent and it is e.g. it is possible to bend two shorter workpieces at the same time.
  • a workpiece is held by one of the two auxiliary grippers on this side and one of the middle gripper (holding pliers or discharge gripper) in the work area between the bending robots and then bent from one side of one of the bending robots. Since the auxiliary grippers can be moved and swiveled independently of one another, it is possible to work in parallel or offset.
  • the bending robots thereby allow bending at any position of the workpiece, even in already bent areas of the same.
  • the bending heads for transport or for other forming or assembly functions. It can also pre-assembled, such as nuts, sleeves, etc. processed workpieces are processed, in which case the bending head before the first bend, the mother or the sleeve moves all the way to the end of the workpiece.
  • the workpieces can be provided with up to three flexible sections.
  • the grippers are positioned in appropriate places to ensure a secure hold of the workpiece can.
  • the guide track preferably comprises two linear guides running parallel to one another in the longitudinal direction of the base frame at the top center of the base frame. This can be achieved in a simple manner, a secure mounting of the bending robot at the same time exact motion control of the same in the process in the longitudinal direction of the base frame.
  • the auxiliary grippers are mounted on a guide track mounted on the front side of the bending machine, extending in the longitudinal direction of the bending machine linear guideway, namely along this slidably.
  • the holding forceps and the discharge gripper are also fixed in the longitudinal direction of the base frame.
  • the auxiliary gripper, the holding clamp, the discharge gripper and both bending robots are also advantageously designed to be displaceable in the direction of a direction extending radially relative to the respective swiveling axis, in addition to their pivotability.
  • a particularly preferred embodiment of the bending machine according to the invention can also be achieved in that the holding forceps is additionally designed as a rotary pliers, by means of which the recorded workpiece can be rotated, which can be shortened by such rotation of the workpiece in many cases advantageously the traversing movements of the bending robot ,
  • a magazine is assigned to the frame on its front side as a delivery device which aligns the workpieces parallel to one another and in the correct form for receiving by the auxiliary gripper, arranged one behind the other in the delivery direction and clocked in a removal position for transfer to the bending machine , whereby a particularly rapid production process can be achieved.
  • the bending machine further comprises a removal device attached to the back of the base frame, which has a frame on which aligned parallel to each other, in their distance adjustable conveyor belts for Removal of the stored, machining workpieces are provided.
  • a removal device attached to the back of the base frame, which has a frame on which aligned parallel to each other, in their distance adjustable conveyor belts for Removal of the stored, machining workpieces are provided.
  • Fig. 1 is a perspective plan view of a formed from a magazine 1, a bending machine 2 and designed as a discharge conveyor 3 total system formed.
  • the magazine 1 consists of several attached to a frame 5 guide belts 6, each of which - over its longitudinal direction - is provided with wedge-shaped recesses 7 in order to be able to transport workpieces 4 of different diameters or widths.
  • a shaft 8 are seated by a drive 9 from sitting on the shaft 8 pinion 10 and on this the guide belts 6.
  • the drive 9 is controlled so that the workpieces 4 clocked are promoted to the acceptance area.
  • the workpieces are 4 (of which in the representation of Fig.
  • the outlet conveyor 3 consists of a frame 12, on which conveyor belts 13 are mounted.
  • a separate drive 14 is provided for each conveyor belt 13 to adjust the distances between the conveyor belts 13 depending on the workpiece 4 flexible.
  • the conveyor belts 13 are mounted on vertical supports 15, each of which in turn is mounted on a carriage 16.
  • the carriage 16 are slidably mounted on perpendicular to the conveying direction of the conveyor belts 13 and arranged parallel to each other guides 17 of the frame 12, as in detail Fig. 1 is apparent, with reference being expressly made to the drawings in this regard.
  • the carriage 16 By moving the carriage 16 toward each other or away from each other, the distance between the conveyor belts 13 can be adjusted, after the adjustment, the carriage 16 are fixed on the guides 17 in a suitable manner.
  • the entire arrangement of the outlet conveyor 3 is mounted on rollers 18, whereby the position of the outlet conveyor 3 to the bending machine 2 can be arbitrarily positioned.
  • the discharge conveyor 3 has two conveyor belts 13: however, it is readily possible to provide more than two conveyor belts 13, depending on the design of the workpiece 4 to be received.
  • the magazine 1 as well as the outlet conveyor 3 may well be performed in any other suitable design, but the requirements of the bending machine 2 in terms of delivery and delivery must be met.
  • Fig. 1 shows the bending machine 2 in a state at the end of the bending process performed by the two bending robots 20 at its two end portions
  • Fig. 2 shows the state in which the bending machine 2 has just taken a new workpiece 4 from the magazine 1, while the machined workpiece has been pivoted to a position for delivery to the outlet belt 3.
  • the bending machine 2 consists of a base frame 19, the two bending robots 20 with bending heads 21, two auxiliary grippers 22, a holding forceps 23 and an outlet gripper 24th
  • the bending robots 20 are movably mounted on a guideway 25, which consists of two linear guides 26 extending in the longitudinal direction X of the base frame 19 and mounted parallel to one another, which is represented by corresponding arrow representations on the bending robots 20 in FIG Fig. 1 and 2 is displayed (travel direction A ).
  • the two auxiliary gripper 22 and the holding forceps 23 are located on the magazine 1 facing the front of the base frame 19, whereas the outlet gripper 24 is attached to the opposite, the outlet conveyor 3 facing the rear side of the base frame 19.
  • FIG. 3 and 4 there are perspective views of a bending robot 20, the in Fig. 3 from its front in a certain working position and in Fig. 4 is shown from its back in a slightly different working position.
  • each bending robot 20 includes a carriage 27, by means of which it is movable on the linear guides 26.
  • Each bending robot 20 carries a bending head 21 of known construction with a bending mandrel and a bending pin, wherein different bending methods (drawing bending, winching, roll bending, left / right bending, free-form bending) can be carried out.
  • Each bending robot 20 can be moved with its carriage 27 on the linear guides 26 in the direction A along the base frame 19, for which a suitable (not shown in the figures) drive is used.
  • Verschwenkarm 28 is mounted on the carriage 27 which is pivotable about a pivot axis parallel to the direction of movement A in the direction B.
  • Verschwenkarm 28 is an arm 29 radially to the pivot axis for the pivotal movement B and retractable attached (travel direction C ), which allows positioning of the bending head 21 radially to this pivot axis.
  • At the end of the arm 29 of the bending head 21 is pivotally connected about an axis of rotation in pivoting D , said axis of rotation parallel to the pivot axis (pivoting B ) and parallel to the direction A of the carriage 27 (and thus to the direction of the linear guide 26).
  • the in the 3 and 4 shown bending head 21 has two drive axles for performing rotational movements W (of the bending mandrel) and Y (the bending finger), as the 3 and 4 can be removed.
  • W rotational movements
  • Y the bending finger
  • FIGS. 5 and 6 show now, in an enlarged perspective view, the formation of the gripper, which forms the holding forceps 23 and in the representation of Fig. 5 is directed vertically upwards, while in Fig. 6 in its outer pivoting position (for receiving a workpiece 4, for example, from the magazine 1 or similar) is rotated.
  • the holding forceps 23 is pivotally mounted in a base 30 and is supported by this on a recess 31 above in a linear guide track 32 at the front of the base frame 19.
  • the base 30 is fixedly mounted on the base frame 19, and that - like the Fig. 1 and 2 show - approximately in the middle of the same.
  • the holding forceps 23 is pivotable about a rotational axis lying in the base 30, arranged parallel to the alignment of the linear guides 26, so that the holding forceps 23 can perform a pivoting movement H.
  • the head part 33 of the holding forceps 23 can also be moved in a direction J lying radially to its axis of rotation.
  • the holding forceps 23 has at its projecting end two gripping jaws 34, which in Fig. 5 in open and in Fig. 6 are shown in the closed state.
  • the workpiece 4 is detectable in its central region and is fixed there during bending.
  • the holding forceps 23 can also be used for long workpieces 4 for transporting the relevant workpiece 4 from the magazine 1 into the working area (bending area) of the bending machine 2.
  • FIGS. 7 and 8 the discharge gripper 24 is shown, in Fig. 7 in its inner pivoting position, in which it is pivoted about the linear guides 26 in the work area (bending area) of the bending machine 2 for receiving a workpiece 4 located there and processed.
  • the structure of the discharge gripper 24 is virtually identical to that of the holding forceps 23 already described above.
  • the outlet gripper 24 is, as well as the Fig. 1 and 2 show, approximately in the center, also stationary, attached to the base frame 19, but such that, as from Fig. 1 can be seen in detail, the gripping jaws 35 of the discharge gripper 24, seen in the longitudinal direction of the base frame 19, slightly offset laterally to the position of the jaws 34 of the holding forceps 23 when both grippers 23, 24 are in their inner Verschwenklage, ie if both grippers are pivoted into the work area of the bending machine 2 for detecting or holding a workpiece 4 located there, as this Fig. 1 shows.
  • the lateral offset of holding forceps 23 and outlet gripper 24 is chosen so that - as well Fig.
  • the outlet gripper 24 is pivotable about a parallel to the linear guides 26 pivoting axis in a pivoting K and, as well as the holding forceps 23 (see description above), in a radial direction L to this pivot axis movable.
  • His gripping unit with two gripping jaws 35, which can be opened or closed to detect a workpiece 4 is identical to that of the holding forceps 23rd
  • the workpiece 4 which is still held by the holding forceps 23, detected by the discharge gripper 24, then released by the holding forceps 23 and then stored by pivoting in the pivoting K on the outlet conveyor 3.
  • FIGS. 9 and 10 in which an auxiliary gripper 22 in a perspective view from above, but in two different Perspektivlagen shown is.
  • the structural design of the auxiliary gripper 22 corresponds completely to that of the two gripping units holding forceps 23 and outlet gripper 24, to the description of which reference is made above.
  • Each outlet gripper 22 is pivotally supported in a carriage 39, with which it along the linear guide track 32, which protrudes at right angles to the front of the base frame 19 of this outward in the direction E is movable.
  • each auxiliary gripper 22 is again in addition to its movability in the direction of E (along the linear guide track 32) and its pivoting in pivoting F in its projecting end still in the direction G radially to its pivot axis and retractable formed.
  • the auxiliary gripper 22 By the pivoting movement F and the linear movement G of the auxiliary gripper 22 is provided for transporting and supporting a workpiece 4, wherein it can be optimally positioned in each case to this.
  • the pivoting movement of F allows the removal of the workpiece 4 from the magazine 1 and the positioning of the workpiece 4 in the work area of the bending machine 2.
  • the two auxiliary grippers 22 can ride along during the bending together with the bending robots 20 on the workpiece 4, whereby this is additionally stabilized. If the workpiece 4 is already bent almost finished, so that the bending robot 20 are already close to its center, the auxiliary gripper 22 can swing away and grab a new workpiece 4 in the magazine 1, while the bending robot 20 the already existing in the workspace 4, the there is still held by the holding forceps 23, finished bending.
  • the workpieces 4 are first aligned in the magazine 1 already parallel and arranged one behind the other and timed promoted to the removal position, which in the representation of Fig. 1 there the workpiece has taken 4.1.
  • the auxiliary gripper 22 and possibly also the holding forceps 23 with their gripping jaws 34 grasp the workpiece 4, as shown in the illustration Fig. 2 shows.
  • the workpiece 4 is then of the gripping means which have detected it, in the working range of the bending machine 2 in the middle of the Base frame 19 above the linear guides 26 transferred.
  • the use of the auxiliary gripper 22 is necessary in order to guide the male long workpiece safely and to prevent the same unwanted oscillation.
  • the auxiliary grippers 22 and the holding forceps 23 it is also possible to bend workpieces 4 with elastic spacers.
  • the bending head 21 of the corresponding bending robot 20 present thereon is then centered on the workpiece 4 at each of the two end regions of the long workpiece 4.
  • the workpiece 4 usually remains positioned between the bending mandrel and the bending pin of the bending head 21.
  • the bending head 21 on the workpiece 4 is moved toward the center of the workpiece from the workpiece end.
  • the bending head 21 is rotated about the axis of the workpiece 4, wherein the workpiece 4 is provided at the appropriate locations with bends.
  • the workpiece 4 is gripped by the discharge gripper 24, after which the auxiliary gripper 22 and the holding pliers 23 release the workpiece 4 and pivot back to the magazine 1.
  • the bending heads 21 of the bending robots 20 are threaded out again and the robots 20 are moved to their respective outer end positions.
  • the discharge gripper 24 sets the workpiece 4 with a pivoting movement in the pivoting direction K on the outlet belt 3.
  • a shorter workpiece 4 each by an auxiliary gripper 22 and one of the middle gripper (holding forceps 23 or outlet gripper 24) is held in the work area of the machine and bent from one end side.
  • the auxiliary gripper 22 can be moved and pivoted completely independently of each other so that you can work at any time parallel or offset.
  • the bending robots 20 allow bending at arbitrary positions of the workpiece, even at already bent portions. If the holding forceps 23 at the same time still formed as a pair of rotary tongs, there is also the additional opportunity, if necessary, to shorten the movement of the bending robot 20 by rotation of the workpiece 4 held by it in the working area of the bending machine 2, which further increases the efficiency of the bending machine 2 ,
  • All movements of the bending robots 20 and the various grippers 22, 23 and 24 are centrally controlled by a program control, not shown in the figures.
  • the bending robots 20 can also be designed so that they can also be used for picking up the workpiece 4 from the magazine 1 and for storing the machined workpiece on the outlet conveyor 3 with.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)
EP07002654A 2007-02-07 2007-02-07 Cintreuse Active EP1955789B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
AT07002654T ATE481190T1 (de) 2007-02-07 2007-02-07 Biegemaschine
DE502007005038T DE502007005038D1 (de) 2007-02-07 2007-02-07 Biegemaschine
ES07002654T ES2347913T3 (es) 2007-02-07 2007-02-07 Máquina dobladora.
EP07002654A EP1955789B1 (fr) 2007-02-07 2007-02-07 Cintreuse
JP2008021296A JP4808737B2 (ja) 2007-02-07 2008-01-31 曲げ加工機
US12/027,746 US7891225B2 (en) 2007-02-07 2008-02-07 Bending machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP07002654A EP1955789B1 (fr) 2007-02-07 2007-02-07 Cintreuse

Publications (2)

Publication Number Publication Date
EP1955789A1 true EP1955789A1 (fr) 2008-08-13
EP1955789B1 EP1955789B1 (fr) 2010-09-15

Family

ID=38198179

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07002654A Active EP1955789B1 (fr) 2007-02-07 2007-02-07 Cintreuse

Country Status (6)

Country Link
US (1) US7891225B2 (fr)
EP (1) EP1955789B1 (fr)
JP (1) JP4808737B2 (fr)
AT (1) ATE481190T1 (fr)
DE (1) DE502007005038D1 (fr)
ES (1) ES2347913T3 (fr)

Cited By (2)

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CN102712029A (zh) * 2009-10-20 2012-10-03 本特·福斯贝里 用于保持诸如线材之类的物体的保持装置
CN111659780A (zh) * 2020-06-18 2020-09-15 上海发那科机器人有限公司 一种机器人弯管加工方法及弯管加工装置

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DE502007000672D1 (de) * 2007-03-14 2009-06-10 Wafios Ag Greifvorrichtung zum Ergreifen und Haltern länglicher Werkstücke, insbesondere bei Biegemaschinen
KR101012508B1 (ko) 2008-11-12 2011-02-08 인아정밀(주) 소형 강관의 고속 3차원 밴딩 머신
CN102311225B (zh) * 2010-06-30 2014-07-16 鸿富锦精密工业（深圳）有限公司 切割装置
CN102172739B (zh) * 2011-01-27 2012-11-21 苏州平方实业有限公司 网片自动折弯成型机
JP6101454B2 (ja) * 2012-09-04 2017-03-22 株式会社アマダホールディングス ワーク加工装置及び該ワーク加工装置における金型の移動方法
US10150154B2 (en) 2013-11-14 2018-12-11 Robert Kyle Hughes, JR. Tube bending machine with reversible clamp assembly
USD755861S1 (en) * 2014-08-15 2016-05-10 Trumpf Gmbh + Co. Kg Bending machine
JP1539124S (fr) * 2014-08-15 2015-11-30
JP6019149B2 (ja) * 2015-02-19 2016-11-02 株式会社アマダホールディングス ベンディングロボット及びワーク検出方法
ITUB20153259A1 (it) * 2015-08-27 2017-02-27 M E P Macch Elettroniche Piegatrici Spa Macchina combinata per lavorare vergelle e relativo procedimento di lavorazione
CN105414376A (zh) * 2015-12-18 2016-03-23 湖北鑫吉药用包装股份有限公司 用于金属薄管生产的冲压卸料装置及其招手组件
US9815107B1 (en) * 2016-10-13 2017-11-14 Armo Tool Ltd. Tube handling machine and method
JP2019038019A (ja) * 2017-08-25 2019-03-14 株式会社オプトン 曲げ加工装置
US11752534B2 (en) * 2018-12-11 2023-09-12 Ndsu Research Foundation Automatic metal wire bending (AMWB) apparatus to manufacture shape conforming lattice structure with continuum design for manufacturable topology
CN109807259B (zh) * 2019-01-24 2024-10-15 江门市凯辉光电科技有限公司 一种直插led自动折弯机
CN112091130B (zh) * 2020-10-20 2022-03-18 广西立晟建设工程有限公司 建筑施工用钢筋对焊辅助装置
CN113020354B (zh) * 2021-03-02 2022-02-22 南京航空航天大学 一种预焊分叉支管的管件成形加工方法及成形装置
CN113231568B (zh) * 2021-05-24 2022-11-08 河北中通铁路配件有限公司 一种预埋螺栓生产用自动折弯装置
CN114115113B (zh) * 2021-10-15 2023-11-21 上海发那科机器人有限公司 一种基于双机器人弯管系统的智能弯管轨迹的生成方法
CN115788145B (zh) * 2022-11-15 2024-07-02 贵州电网有限责任公司 一种拉线辅助工具

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JP4808737B2 (ja) 2011-11-02
ATE481190T1 (de) 2010-10-15
DE502007005038D1 (de) 2010-10-28
JP2008188675A (ja) 2008-08-21
ES2347913T3 (es) 2010-11-25
EP1955789B1 (fr) 2010-09-15
US20080184761A1 (en) 2008-08-07
US7891225B2 (en) 2011-02-22

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