EP1979112B1 - Work transport device - Google Patents
Work transport device Download PDFInfo
- Publication number
- EP1979112B1 EP1979112B1 EP07700125A EP07700125A EP1979112B1 EP 1979112 B1 EP1979112 B1 EP 1979112B1 EP 07700125 A EP07700125 A EP 07700125A EP 07700125 A EP07700125 A EP 07700125A EP 1979112 B1 EP1979112 B1 EP 1979112B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gripping
- transport device
- gripper
- workpiece transport
- link
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K27/00—Handling devices, e.g. for feeding, aligning, discharging, Cutting-off means; Arrangement thereof
- B21K27/02—Feeding devices for rods, wire, or strips
- B21K27/04—Feeding devices for rods, wire, or strips allowing successive working steps
Definitions
- the present invention relates to a workpiece transport device for a forming machine according to the preamble of independent claim 1.
- Multi-stage forming machines In today usual forming machines workpieces are normally placed by means of workpiece transport devices in forming stations and / or removed again after the forming. Multi-stage forming machines have a plurality of successively arranged forming stations, in which a workpiece is processed one after the other. The transport of the workpiece between the individual forming stations takes place by means of a workpiece transport device.
- Known workpiece transport devices comprise a plurality of grippers, with which the workpieces in the individual forming stations can be grasped, transported and then released again at the same time.
- the grippers are driven together by a drive mechanism in the machine cycle.
- a grasping forceps which has two non-intersecting, mutually pivotable gripper arms each having a gripping end for gripping a workpiece.
- each of the two gripper arms is articulated at the end opposite the gripping end on a common guide head and in a central region between the two ends on a separate link.
- the two links are rotatable about a common, fixed pivot point.
- the invention has the object to provide a workpiece transport device of the type mentioned, in which the gripper arms of the at least one gripping tongs require less space laterally.
- a workpiece transport device for a forming machine comprises at least one gripping tongs, which has two non-intersecting, mutually pivotable gripper arms, each with a gripping end for gripping a workpiece.
- Each of the two gripper arms is articulated at the end opposite the gripping end on a common guide head and in a central region between the two ends on a separate link.
- the two links are each rotatable about a fixed pivot point.
- the fixed pivot point of the arm of one gripper arm is arranged closer to the other gripper arm than the fixed pivot point of the arm of this other gripper arm.
- the links of the two gripper arms are arranged so that they are rotatable about different fixed pivot points, and also the fixed pivot points of the links are each offset to the gripper arm, which is not hinged to the respective link, the two gripper arms are less far apart swung outwards.
- the lateral space requirement of the at least one gripping pliers is thus smaller than in comparable workpiece transport devices of the prior art.
- the guide head is guided linearly displaceable on a fixed guide, so that upon rotation of a link of the guide head through a gripper arm, on which this link is articulated, is linearly displaced, whereby the other gripper arm mitschoben and is rotated due to the articulation to the other link in the direction opposite to a gripper arm direction.
- a rotary drive can be used, which acts on one of the handlebars.
- the workpiece transport device preferably has a pretensioning device which exerts a force on the guide head in the direction of the gripping ends of the gripper arms.
- this biasing device By means of this biasing device, the gripping tongs is held in gripping position or pressed into the gripping position when no active drive for opening the gripping tongs takes place.
- the bias also prevents undefined flapping of the gripper arms.
- the two gripper arms are articulated in the guide head on a common axis of rotation.
- the guide head can be made relatively compact.
- each of the two links is rotatably mounted in each case in a fixed housing part of the gripping tongs around the fixed pivot point belonging to the respective link.
- the respective pivot point of the link is located at one end of the handlebar and the entire length of the handlebars can be used by the other end of the link is articulated to the associated gripper arm.
- the workpiece transport device has a rotary drive with which one of the links is rotatable.
- a rotary drive has the advantage that it is easier to seal than a linear drive. In addition, it is easier to implement and takes up less space than a linear drive.
- the rotary drive on a drive rod which is displaceable in the longitudinal direction and via intermediate links with one of the handlebars is connected, so that by a longitudinal displacement of the drive rod of the handlebar in question is rotatable.
- a drive rod can in principle be used for the simultaneous drive of a plurality of adjacently arranged grippers by being connected via intermediate links with one of the links of each gripping pliers.
- the workpiece transport device on a plurality of juxtaposed gripping tongs, which are operable in parallel with a drive.
- the workpieces in the individual forming stations can be grabbed, transported and then released at the same time.
- the gripper arms and the handlebars are designed and arranged such that upon rotation of the handlebars from one end position to the other, the gripping ends of the two gripper arms are initially moved away from one another and then swung back towards one another. In the two end positions, the at least one gripping tongs then occupy relatively little space laterally.
- a transverse displacement of the at least one grasping forceps with or without a workpiece takes place in time so that the opening course of the grasping forceps allows a collision-free movement. For reasons of time, the transverse movement usually begins before the gripping tongs reach one of the end positions.
- Fig. 1 a cutout on the die side of a multi-stage forming machine with an exemplary embodiment of a workpiece transport device according to the invention with four tongs;
- Fig. 2A to 2C Essential elements of one of the four gripping tongs of the workpiece transport device of Fig. 1 with a workpiece from the front in a lower end position, a middle position and an upper end position;
- Figs. 3A to 3C The gripping forceps elements of Fig. 2A with workpiece from behind in a lower end position, a middle position and an upper end position;
- FIGS. 4A to 4C The gripping forceps elements of Fig. 2A with workpiece in a perspective view obliquely from behind in a lower end position, a central position and an upper end position;
- Fig. 5 The gripping forceps elements of Fig. 2A with further elements of the gripping pliers and a rotary drive in a perspective view obliquely from the front;
- Fig. 6 The Greifzangen- and rotary drive elements of Fig. 5 in a perspective view obliquely from behind, with a housing part is omitted for clarity;
- Fig. 7 The Greifzangen- and rotary drive elements of Fig. 5 from the rear, wherein a housing part is omitted for clarity;
- FIG. 8 - A sectional view along the line AA in Fig. 7 , wherein additional housing parts are shown;
- Figs. 9A to 9C The Greifzangen- and rotary drive elements of Fig. 5 from the front in a lower end position, a middle position and an upper end position;
- Fig. 11 - A substantial part of the rotary drive of the workpiece transport device of Fig. 1 ;
- Fig. 12 a partial sectional view of the forming machine with workpiece transport device of Fig. 1 ,
- FIG. 1 illustrated embodiment of a multi-stage forming machine 8 comprises four forming stations, each of which a die 81, 82, 83 and 84 is visible.
- the dies 81, 82, 83, 84 are mounted in a stationary die holder 85, which is indirectly connected to a machine frame 86.
- a workpiece transport device is provided which has four grippers 1.
- the grippers 1 are on the one hand transversely displaceable, to which they are attached to a transverse transport block 4, which is transversely displaceable by means of a transverse transport tube.
- the grippers are 1 open and lockable as well as simultaneously raised or lowered, which is done by means of a mechanism which will be explained in detail below.
- a displaceable in its longitudinal direction drive rod 3 is provided which is longitudinally displaceable by means of an adjusting device 5, as in connection with Fig. 12 explained in more detail below.
- Fig. 2A, 2B, 2C . 3A, 3B, 3C . 4A, 4B and 4C are essential elements of a grasping forceps 1 shown in a lower end position, a central position and an upper end position
- the gripping pliers 1 is closed and engages a workpiece 9.
- the gripping tongs 1 is opened to the maximum and raised to half the maximum height.
- the gripper tongs 1 is closed again and raised to maximum height.
- the gripper 1 comprises two non-intersecting, mutually pivotable gripper arms 11 and 12, each having a gripping end 111 and 121 for gripping the workpiece 9.
- At the gripping ends 111, 121 are each two gripping members 112 and 113 and 122 and 123 screwed, which hold the workpiece 9 between them.
- each of the two gripper arms 11, 12 hinged to a common axis of rotation, which is not shown here.
- the gripper arms 11, 12 are articulated in each case via a non-visible axis of rotation at one end 131 or 141 of a separate arm 13 or 14.
- the two links 13, 14 are each rotatable about a fixed pivot point 130 and 140, which is located in the middle of the other end 132 and 142 of the arm 13 and 14, respectively. How out the Figs. 4A, 4B and 4C this is realized in the present embodiment by fixed pivot axes 133 and 143 in the middle of the handlebar ends 132 and 142, respectively.
- the pivot points 130, 140 and the fixed axes of rotation 133, 143 are stationary when opening and closing the gripping tongs 1, they only move with the transverse transport of the gripping tongs 1.
- the fixed pivot point 130 of the arm 13 of the gripper arm 11 is arranged closer to the gripper arm 12 than the fixed pivot point 140 of the arm 14 of this gripper arm 12.
- the fixed pivot point 130 of the arm 13 is practically directly behind the gripper arm 12.
- the fixed pivot point 140 of the arm 14 is practicallyttle.vor the gripper arm 11th
- a prism 134 is attached, which has an attachment surface for a drive member, not shown here.
- the prism 134 is screwed by means of a screw 135 on the handlebar end 131.
- the handlebar ends 132,142 of the handlebars 13, 14 in fixed housing parts 161 and 162 of a fixed housing 16 are rotatably mounted.
- the upper Greiferarmenden 114, 124 of the gripper arms 11, 12 are hinged to the aforementioned common axis of rotation in a common guide head 15 which is mounted linearly displaceable on two vertical guide rods 151, 152 in the vertical direction.
- a rod 172 and a bearing pin 173 of a biasing means 17 are mounted around which a coil spring 171 is arranged.
- the coil spring 171 the upper end rests against a fixed housing part, not shown here, is biased by compression and exerts on the guide head 15, a force in the direction of the gripping ends 111, 121 of the gripper arms 11, 12 out.
- the acted upon by the coil spring 171 guide head 15 thus has the tendency to move the gripper arms 11, 12 in the lower end position or to hold in this.
- the closing of the gripping tongs 1 by the biasing means 17 is effected while the opening is accomplished with an active rotary drive.
- a neck portion 221 is rotatably screwed with a Ansetz phenomenon 222 for a power transmission member.
- Fig. 8 shows, in addition to the already explained components, how the upper Greiferarmenden 114, 124 of the gripper arms 11, 12 are hinged in the guide head 15 to a common axis of rotation 153.
- the fixed housing part 163 of the fixed housing 16 is shown, against which the upper end of the coil spring 171 rests.
- FIGs. 9A, 9B and 9C already explained parts of the gripping tongs 1 are shown in a front view again in the lower end position, the center position and the upper end position. It is clearly visible here how the guide head 15 in the fixed housing 16 is displaced linearly upward and thereby compresses the spiral spring 171.
- the 10A, 10B and 10C show the turning of the arm 13 by means of the drive lever 2 based on the lower end position, the center position and the upper end position of the gripping tongs 1. It is clear it can be seen that the lever arm 21 engaging the prism 134 of the handlebar end 131 rotates the handlebar 13 with the prism 134, while the pivotally mounted on the lever arm 22 neck portion 221 maintains its orientation relative to the forming machine with simultaneous rotation of the lever arm 22 below it.
- the attachment part 221 with the attachment surface 222 is moved on a circular arc path from right to left. This allows rotation of the drive lever 2 by a linear movement of a voltage applied to the Ansetz Structure 222 power transmission member.
- Fig. 11 four juxtaposed drive lever 2 are shown, wherein for a drive lever 2 and parts of the associated gripping tongs 1 are drawn. At the attachment surfaces 222 of the attachment parts 221 of the drive lever 2 is in each case a force transmission member 31 at. All four power transmission members 31 are fixed to a common power transmission rod 32, which is connected via a connecting part 33 with the drive rod 3. By moving the drive rod 3 in its longitudinal direction so all four drive lever 2 can be rotated together.
- the drive rod 3 is longitudinally displaceable by means of an adjusting device 5, as in the Fig. 12 and 1 is shown.
- the adjusting device 5 comprises in the present case a drive shaft 51 which drives a transmission shaft 52 via gears 511 and 521.
- the transmission shaft 52 is provided with a curve 522 which presses on a freely rotating roller 531 of a rotary member 53.
- the rotary member 53 in turn presses on a roller 543 which is freely rotatably mounted at a free end of a lever arm 541 of a double lever 54.
- the double lever 54 with the two lever arms 541 and 542 is thereby rotated about a fixed axis of rotation 544, wherein the lever arm 542 pulls the hinged thereto link 55 and thus the hinged to this drive rod 3 to the outside.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
- Feeding Of Workpieces (AREA)
- Toys (AREA)
- Measurement And Recording Of Electrical Phenomena And Electrical Characteristics Of The Living Body (AREA)
- Pens And Brushes (AREA)
Abstract
Description
Die vorliegende Erfindung bezieht sich auf eine Werkstücktransportvorrichtung für eine Umformmaschine gemäss dem Oberbegriff des unabhängigen Anspruchs 1.The present invention relates to a workpiece transport device for a forming machine according to the preamble of independent claim 1.
In heute üblichen Umformmaschinen werden Werkstücke normalerweise mittels Werkstücktransportvorrichtungen in Umformstationen platziert und/oder nach dem Umformen wieder aus diesen entnommen. Mehrstufige Umformmaschinen weisen mehrere nacheinander angeordnete Umformstationen auf, in denen ein Werkstück nacheinander bearbeitet wird. Der Transport des Werkstücks zwischen den einzelnen Umformstationen erfolgt dabei mittels einer Werkstücktransportvorrichtung.In today usual forming machines workpieces are normally placed by means of workpiece transport devices in forming stations and / or removed again after the forming. Multi-stage forming machines have a plurality of successively arranged forming stations, in which a workpiece is processed one after the other. The transport of the workpiece between the individual forming stations takes place by means of a workpiece transport device.
Bekannte Werkstücktransportvorrichtungen umfassen mehrere Greifzangen, mit denen die Werkstücke in den einzelnen Umformstationen gleichzeitig ergriffen, transportiert und dann wieder freigegeben werden können. Hierzu werden die Greifzangen über einen Antriebsmechanismus gemeinsam im Maschinentakt angetrieben.Known workpiece transport devices comprise a plurality of grippers, with which the workpieces in the individual forming stations can be grasped, transported and then released again at the same time. For this purpose, the grippers are driven together by a drive mechanism in the machine cycle.
Greifzangen verschiedenster Art gehören zum Stand der Technik. In der
Angesichts der Nachteile der bisher bekannten Werkstücktransportvorrichtungen liegt der Erfindung die Aufgabe zugrunde, eine Werkstücktransportvorrichtung der eingangs erwähnten Art zu schaffen, bei der die Greiferarme der mindestens einen Greifzange seitlich weniger Platz benötigen.In view of the disadvantages of the previously known workpiece transport devices, the invention has the object to provide a workpiece transport device of the type mentioned, in which the gripper arms of the at least one gripping tongs require less space laterally.
Diese Aufgabe wird gelöst durch die erfindungsgemässe Werkstücktransportvorrichtung, wie sie im unabhängigen Anspruch 1 definiert ist. Bevorzugte Ausführungsvarianten ergeben sich aus den abhängigen Ansprüchen.This object is achieved by the inventive workpiece transport device, as defined in independent claim 1. Preferred embodiments will become apparent from the dependent claims.
Das Wesen der Erfindung besteht im Folgenden: Eine Werkstücktransportvorrichtung für eine Umformmaschine umfasst mindestens eine Greifzange, die zwei sich nicht kreuzende, gegeneinander verschwenkbare Greiferarme mit jeweils einem Greifende zum Greifen eines Werkstücks aufweist. Jeder der beiden Greiferarme ist an dem dem Greifende gegenüberliegenden Ende an einem gemeinsamen Führungskopf und in einem mittleren Bereich zwischen den beiden Enden an einem eigenen Lenker angelenkt. Die beiden Lenker sind jeweils um einen fixen Drehpunkt drehbar. Erfindungsgemäss ist der fixe Drehpunkt des Lenkers des einen Greiferarms näher beim anderen Greiferarm angeordnet als der fixe Drehpunkt des Lenkers dieses anderen Greiferarms.The essence of the invention consists in the following: A workpiece transport device for a forming machine comprises at least one gripping tongs, which has two non-intersecting, mutually pivotable gripper arms, each with a gripping end for gripping a workpiece. Each of the two gripper arms is articulated at the end opposite the gripping end on a common guide head and in a central region between the two ends on a separate link. The two links are each rotatable about a fixed pivot point. According to the invention, the fixed pivot point of the arm of one gripper arm is arranged closer to the other gripper arm than the fixed pivot point of the arm of this other gripper arm.
Da die Lenker der beiden Greiferarme derart angeordnet sind, dass sie um unterschiedliche fixe Drehpunkte drehbar sind, und zudem die fixen Drehpunkte der Lenker jeweils zu dem Greiferarm hin versetzt sind, der nicht am jeweiligen Lenker angelenkt ist, werden die beiden Greiferarme beim Auseinanderschwenken weniger weit nach aussen geschwenkt. Der seitliche Platzbedarf der mindestens einen Greifzange ist somit kleiner als bei vergleichbaren Werkstücktransportvorrichtungen des Standes der Technik.Since the links of the two gripper arms are arranged so that they are rotatable about different fixed pivot points, and also the fixed pivot points of the links are each offset to the gripper arm, which is not hinged to the respective link, the two gripper arms are less far apart swung outwards. The lateral space requirement of the at least one gripping pliers is thus smaller than in comparable workpiece transport devices of the prior art.
Mit Vorteil ist der Führungskopf linear verschiebbar an einer fixen Führung geführt, so dass bei einer Drehung eines Lenkers der Führungskopf durch den einen Greiferarm, an dem dieser Lenker angelenkt ist, linear verschoben wird, wodurch der andere Greiferarm mitverschoben und aufgrund der Anlenkung an den anderen Lenker in der zum einen Greiferarm entgegengesetzten Richtung gedreht wird. Dies ermöglicht ein Öffnen und Schliessen der Greifzange durch Drehen eines Lenkers, d.h. als Antrieb kann ein Drehantrieb verwendet werden, der auf einen der Lenker einwirkt. Ein Vorteil eines solchen Drehantriebs besteht darin, dass er sich leichter abdichten lässt als ein beispielsweise am Führungskopf ansetzender Linearantrieb. Ausserdem ist er einfacher zu verwirklichen und braucht weniger Platz als ein Linearantrieb.Advantageously, the guide head is guided linearly displaceable on a fixed guide, so that upon rotation of a link of the guide head through a gripper arm, on which this link is articulated, is linearly displaced, whereby the other gripper arm mitschoben and is rotated due to the articulation to the other link in the direction opposite to a gripper arm direction. This allows opening and closing of the gripping tongs by turning a handlebar, ie, as a drive, a rotary drive can be used, which acts on one of the handlebars. An advantage of such a rotary drive is that it is easier to seal off than a linear drive, for example, attaching to the guide head. In addition, it is easier to implement and takes up less space than a linear drive.
Vorzugsweise weist die Werkstücktransportvorrichtung eine Vorspanneinrichtung auf, die auf den Führungskopf eine Kraft in Richtung zu den Greifenden der Greiferarme hin ausübt. Durch diese Vorspanneinrichtung wird die Greifzange in Greifposition gehalten bzw. in die Greifposition gedrückt, wenn kein aktiver Antrieb zum Öffnen der Greifzange erfolgt. Die Vorspannung verhindert auch ein undefiniertes Flattern der Greiferarme.The workpiece transport device preferably has a pretensioning device which exerts a force on the guide head in the direction of the gripping ends of the gripper arms. By means of this biasing device, the gripping tongs is held in gripping position or pressed into the gripping position when no active drive for opening the gripping tongs takes place. The bias also prevents undefined flapping of the gripper arms.
Vorteilhafterweise sind die beiden Greiferarme im Führungskopf an einer gemeinsamen Drehachse angelenkt. Der Führungskopf kann so relativ kompakt ausgebildet werden.Advantageously, the two gripper arms are articulated in the guide head on a common axis of rotation. The guide head can be made relatively compact.
Bevorzugt ist das eine Ende jedes der beiden Lenker jeweils in einem fixen Gehäuseteil der Greifzange um den zum jeweiligen Lenker gehörenden fixen Drehpunkt herum drehbar gelagert. Dies bedeutet, dass der jeweilige Drehpunkt der Lenker sich am einen Ende des betreffenden Lenkers befindet und die ganze Länge der Lenker genutzt werden kann, indem jeweils das andere Ende der Lenker an den zugehörigen Greiferarm angelenkt wird.Preferably, the one end of each of the two links is rotatably mounted in each case in a fixed housing part of the gripping tongs around the fixed pivot point belonging to the respective link. This means that the respective pivot point of the link is located at one end of the handlebar and the entire length of the handlebars can be used by the other end of the link is articulated to the associated gripper arm.
Vorzugsweise weist die Werkstücktransportvorrichtung einen Drehantrieb auf, mit welchem einer der Lenker drehbar ist. Wie bereits erwähnt, weist ein Drehantrieb den Vorteil auf, dass er sich leichter abdichten lässt als ein Linearantrieb. Ausserdem ist er einfacher zu verwirklichen und braucht weniger Platz als ein Linearantrieb.Preferably, the workpiece transport device has a rotary drive with which one of the links is rotatable. As already mentioned, a rotary drive has the advantage that it is easier to seal than a linear drive. In addition, it is easier to implement and takes up less space than a linear drive.
Mit Vorteil weist der Drehantrieb eine Antriebsstange auf, die in Längsrichtung verschiebbar ist und über Zwischenglieder mit einem der Lenker verbunden ist, so dass durch eine Längsverschiebung der Antriebsstange der betreffende Lenker drehbar ist. Eine solche Antriebsstange kann prinzipiell für den gleichzeitigen Antrieb mehrerer nebeneinander angeordneter Greifzangen genutzt werden, indem sie über Zwischenglieder mit jeweils einem der Lenker jeder Greifzange verbunden wird.Advantageously, the rotary drive on a drive rod, which is displaceable in the longitudinal direction and via intermediate links with one of the handlebars is connected, so that by a longitudinal displacement of the drive rod of the handlebar in question is rotatable. Such a drive rod can in principle be used for the simultaneous drive of a plurality of adjacently arranged grippers by being connected via intermediate links with one of the links of each gripping pliers.
Bevorzugt weist die Werkstücktransportvorrichtung mehrere nebeneinander angeordnete Greifzangen auf, die mit einem Antrieb parallel betätigbar sind. Die Werkstücke in den einzelnen Umformstationen können so gleichzeitig ergriffen, transportiert und dann wieder freigegeben werden.Preferably, the workpiece transport device on a plurality of juxtaposed gripping tongs, which are operable in parallel with a drive. The workpieces in the individual forming stations can be grabbed, transported and then released at the same time.
Mit Vorteil sind die Greiferarme und die Lenker derart ausgebildet und angeordnet, dass bei einer Drehung der Lenker von einer Endposition in die andere die Greifenden der beiden Greiferarme zunächst voneinander weg- und dann wieder aufeinander zugeschwenkt werden. In den beiden Endpositionen beansprucht die mindestens eine Greifzange dann seitlich relativ wenig Platz. Eine Querverschiebung der mindestens einen Greifzange mit oder ohne Werkstück erfolgt zeitlich so, dass der Öffnungsverlauf der Greifzange eine kollisionsfreie Bewegung zulässt. Aus Zeitgründen beginnt die Querbewegung üblicherweise bereits, bevor die Greifzange eine der Endpositionen erreicht.Advantageously, the gripper arms and the handlebars are designed and arranged such that upon rotation of the handlebars from one end position to the other, the gripping ends of the two gripper arms are initially moved away from one another and then swung back towards one another. In the two end positions, the at least one gripping tongs then occupy relatively little space laterally. A transverse displacement of the at least one grasping forceps with or without a workpiece takes place in time so that the opening course of the grasping forceps allows a collision-free movement. For reasons of time, the transverse movement usually begins before the gripping tongs reach one of the end positions.
Im Folgenden wird die erfindungsgemässe Werkstücktransportvorrichtung unter Bezugnahme auf die beigefügten Zeichnungen anhand eines Ausführungsbeispiels detaillierter beschrieben. Es zeigen:In the following, the workpiece transport device according to the invention will be described in more detail with reference to the accompanying drawings with reference to an embodiment. Show it:
Das in
Für die gesamte weitere Beschreibung gilt folgende Festlegung. Sind in einer Figur zum Zweck zeichnerischer Eindeutigkeit Bezugsziffern enthalten, aber im unmittelbar zugehörigen Beschreibungstext nicht erläutert, oder umgekehrt, so wird auf deren Erwähnung in vorangehenden Figurenbeschreibungen Bezug genommen.The following definition applies to the entire further description. If reference numerals are included in a figure for the purpose of graphic clarity, but are not explained in the directly related descriptive text, or vice versa, reference is made to their mention in the preceding description of the figures.
In den
Die Greifzange 1 umfasst zwei sich nicht kreuzende, gegeneinander verschwenkbare Greiferarme 11 und 12, die jeweils ein Greifende 111 bzw. 121 zum Greifen des Werkstücks 9 aufweisen. An den Greifenden 111, 121 sind jeweils zwei Greifelemente 112 und 113 bzw. 122 und 123 angeschraubt, die zwischen sich das Werkstück 9 halten.The gripper 1 comprises two non-intersecting, mutually pivotable
An dem dem Greifende 111, 121 gegenüberliegenden Ende 114 bzw. 124 ist jeder der beiden Greiferarme 11, 12 an einer gemeinsamen Drehachse angelenkt, die hier nicht gezeichnet ist. In einem mittleren Bereich zwischen den beiden Enden sind die Greiferarme 11, 12 jeweils über eine nicht sichtbare Drehachse an einem Ende 131 bzw. 141 eines eigenen Lenkers 13 bzw. 14 angelenkt. Die beiden Lenker 13, 14 sind jeweils um einen fixen Drehpunkt 130 bzw. 140 drehbar, der sich in der Mitte des anderen Endes 132 bzw. 142 des Lenkers 13 bzw. 14 befindet. Wie aus den
Erfindungsgemäss ist der fixe Drehpunkt 130 des Lenkers 13 des Greiferarms 11 näher beim Greiferarm 12 angeordnet als der fixe Drehpunkt 140 des Lenkers 14 dieses Greiferarms 12. Beim dargestellten Ausführungsbeispiel befindet sich der fixe Drehpunkt 130 des Lenkers 13 praktisch direkt hinter dem Greiferarm 12. Entsprechend ist der fixe Drehpunkt 140 des Lenkers 14 des Greiferarms 12 näher beim Greiferarm 11 angeordnet als der fixe Drehpunkt 130 des Lenkers 13 dieses Greiferarms 11. Beim dargestellten Ausführungsbeispiel befindet sich der fixe Drehpunkt 140 des Lenkers 14 praktisch direkt.vor dem Greiferarm 11.According to the invention, the fixed
Am Lenkerende 131 des Lenkers 13 ist ein Prisma 134 angebracht, das eine Ansetzfläche für ein hier nicht dargestelltes Antriebsglied aufweist. Das Prisma 134 ist mittels einer Schraube 135 am Lenkerende 131 angeschraubt.At the
Durch Drücken des Antriebsglieds von unten gegen das Prisma 134 wird der Lenker 13 gedreht, wodurch der Greiferarm 11 ausgehend von der unteren Endposition gemäss den
Aus den
Vom Drehantrieb ist hier ein als Doppelhebel ausgebildeter Antriebshebel 2 dargestellt, dessen einer Hebelarm 21 als Antriebsglied am Prisma 134 des Lenkers 13 ansetzt. Am zweiten Hebelarm 22 des Antriebshebels 2 ist ein Ansatzteil 221 mit einer Ansetzfläche 222 für ein Kraftübertragungsglied drehbar angeschraubt.From the rotary drive here designed as a double
In den
Die
In
Die Antriebsstange 3 ist mittels einer Verstelleinrichtung 5 längsverschiebbar, wie sie in den
Zu der vorbeschriebenen Werkstücktransportvorrichtung sind weitere konstruktive Variationen realisierbar. Hier ausdrücklich erwähnt sei noch, dass anstelle der Vorspanneinrichtung 17 mit Spiralfeder 171 beispielsweise auch eine pneumatische Vorspanneinrichtung verwendet werden könnte.For the above-described workpiece transport device further constructive variations can be realized. It should be expressly mentioned here that instead of the
Claims (9)
- Workpiece transport device for a forming machine, having at least one gripping tongs (1) which has two non-crossing gripper arms (11, 12) which are pivotable with respect to one another, the arms each having a gripping end (111, 121) for gripping a workpiece (9), each of the two gripper arms (11, 12) being articulated at its end (114, 124) opposite from the gripping end (111, 121) on a common guide head (15) and, in a middle region between the two ends, on its own link bar (13, 14) and the two link bars (13, 14) each being rotatable about a fixed pivot (130, 140), characterized in that the fixed pivot (130, 140) of the link bar (13, 14) of one gripper arm (11, 12) is arranged closer to the other gripper arm (11, 12) than is the fixed pivot (130, 140) of the link bar (13, 14) of that other gripper arm (11, 12).
- Workpiece transport device according to claim 1, characterized in that the guide head (15) is linearly displaceable along a fixed guide means (151, 152) so that, on rotation of a link bar (13, 14), the guide head (15) is displaced linearly by the one gripper arm (11, 12) on which that link bar (13, 14) is articulated, with the result that the other gripper arm (11, 12) is displaced too and, as a result of it being articulated on the other link bar (13, 14), is rotated in the opposite direction to the first gripper arm (11, 12).
- Workpiece transport device according to claim 1 or 2, characterized in that it has a biasing device (17) which exerts on the guide head (15) a force in the direction towards the gripping ends (111, 121) of the gripper arms (11, 12).
- Workpiece transport device according to any one of claims 1 to 3, characterized in that the two gripper arms (11, 12) are articulated on a common pivot shaft (153) in the guide head (15).
- Workpiece transport device according to any one of claims 1 to 4, characterized in that one end (132, 142) of each of the two link bars (13, 14) is mounted in a fixed housing part (161, 162) of the gripping tongs (1) so as to be rotatable about the fixed pivot (130, 140) belonging to the respective link bar (13, 14).
- Workpiece transport device according to any one of claims 1 to 5, characterized in that it has a rotary drive means with which one of the link bars (13, 14) is rotatable.
- Workpiece transport device according to claim 6, characterized in that the rotary drive means has a drive rod (3) which is displaceable in the longitudinal direction and is connected to one of the link bars (13, 14) by means of intermediate members (2, 31, 32, 33), so that the link bar (13, 14) in question is rotatable by longitudinal displacement of the drive rod (3).
- Workpiece transport device according to any one of claims 1 to 7, characterized in that it has a plurality of gripping tongs (1) arranged one next to the other which are operable in parallel by means of a drive means.
- Workpiece transport device according to any one of claims 1 to 8, characterized in that the gripper arms (11, 12) and the link bars (13, 14) are constructed and arranged in such a way that, on rotation of the link bars (13, 14) from one end position to the other, the gripping ends (111, 121) of the two gripper arms (11, 12) are pivoted first away from one another and then towards one another again.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH1122006 | 2006-01-24 | ||
PCT/CH2007/000027 WO2007085102A1 (en) | 2006-01-24 | 2007-01-19 | Work transport device |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1979112A1 EP1979112A1 (en) | 2008-10-15 |
EP1979112B1 true EP1979112B1 (en) | 2009-09-23 |
Family
ID=36173950
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07700125A Active EP1979112B1 (en) | 2006-01-24 | 2007-01-19 | Work transport device |
Country Status (10)
Country | Link |
---|---|
US (1) | US20100253107A1 (en) |
EP (1) | EP1979112B1 (en) |
KR (1) | KR20080087008A (en) |
CN (1) | CN101374616B (en) |
AT (1) | ATE443584T1 (en) |
DE (1) | DE502007001577D1 (en) |
EA (1) | EA013444B1 (en) |
ES (1) | ES2331490T3 (en) |
UA (1) | UA91391C2 (en) |
WO (1) | WO2007085102A1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100117282A1 (en) * | 2007-01-19 | 2010-05-13 | Vermeer Manufacturing Company | Vise for a directional drilling machine |
JP6192131B2 (en) * | 2015-12-10 | 2017-09-06 | アイダエンジニアリング株式会社 | Work transfer device for press machine |
JP6787688B2 (en) | 2016-05-16 | 2020-11-18 | オークマ株式会社 | Machine Tools |
CN107470536A (en) * | 2017-09-28 | 2017-12-15 | 山西晨辉锻压设备制造有限公司 | One kind forging dress reclaimer binding clip rotating device |
CN110125688A (en) * | 2019-05-22 | 2019-08-16 | 上海格林罗格精密机械技术有限公司 | The process equipment of diaphragm rotary valve type carburetor ontology |
CN114905619B (en) * | 2022-04-14 | 2024-02-06 | 美尔森石墨工业(重庆)有限公司 | Be suitable for multi-type graphite embryo anchor clamps of unloading |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3652117A (en) * | 1966-05-14 | 1972-03-28 | Herbert Schroder | Equipment for manufacturing bakery products |
US3371953A (en) * | 1967-03-16 | 1968-03-05 | Leland F. Blatt | Gripper |
FR2123085B1 (en) * | 1970-12-08 | 1974-02-15 | Est Aciers Fins | |
US3965718A (en) * | 1973-07-23 | 1976-06-29 | The National Machinery Company | Transfer mechanism |
US3963271A (en) * | 1974-10-15 | 1976-06-15 | Yamatake-Honeywell Company, Limited | Finger mechanisms of industrial robots |
DE2929800A1 (en) * | 1977-09-13 | 1981-02-12 | Nedschroef Octrooi Maats | Workpiece conveyor for machine tools - has control slides, each with two pistons, one with actuating cams |
NL8002746A (en) * | 1980-05-13 | 1981-12-16 | Nedschroef Octrooi Maats | DEVICE FOR TRANSFERRING MACHINED PRODUCTS ON TOOLING TOOLS FROM THE ONE MACHINING STATION TO THE FOLLOWING. |
US4549425A (en) * | 1983-07-14 | 1985-10-29 | The National Machinery Company | Forging machine transfer with misalignment detector |
BE902755A (en) * | 1984-06-29 | 1985-10-16 | Nat Machinery Co | TRANSFER DEVICE FOR FORMING MACHINE AND FORMING MACHINE EQUIPPED WITH SUCH DEVICE. |
DE3615812A1 (en) * | 1986-05-10 | 1987-11-12 | Schuler Gmbh L | DEVICE FOR TRANSPORTING WORKPIECES IN A MULTI-STAGE FORMING PRESS |
US4666199A (en) * | 1986-08-08 | 1987-05-19 | Burndy Corporation | Chip carrier extraction tool |
US5092731A (en) * | 1989-10-30 | 1992-03-03 | Rand Automated Compaction System, Inc. | Container handling apparatus for a refuse collection vehicle |
CN2062661U (en) * | 1990-02-27 | 1990-09-26 | 东方锅炉厂 | Multifunctional pincher for forging machine |
KR940002172B1 (en) * | 1991-03-16 | 1994-03-18 | 한국과학기술연구원 | Bi-directional feeding gripper device |
DE19919434A1 (en) * | 1999-04-29 | 2000-11-02 | Schuler Pressen Gmbh & Co | Part transfer facility |
US6371544B1 (en) * | 2000-03-29 | 2002-04-16 | San Shing Hardware Works Co., Ltd. | Workpiece transfer device for a forging machine |
CN2500413Y (en) * | 2001-08-17 | 2002-07-17 | 金谙工业股份有限公司 | Fixtural bench for forging part former with lined movable parent clamp set |
-
2007
- 2007-01-19 EA EA200801625A patent/EA013444B1/en not_active IP Right Cessation
- 2007-01-19 WO PCT/CH2007/000027 patent/WO2007085102A1/en active Application Filing
- 2007-01-19 ES ES07700125T patent/ES2331490T3/en active Active
- 2007-01-19 US US12/161,437 patent/US20100253107A1/en not_active Abandoned
- 2007-01-19 KR KR1020087017853A patent/KR20080087008A/en active IP Right Grant
- 2007-01-19 CN CN200780003322XA patent/CN101374616B/en not_active Expired - Fee Related
- 2007-01-19 AT AT07700125T patent/ATE443584T1/en active
- 2007-01-19 EP EP07700125A patent/EP1979112B1/en active Active
- 2007-01-19 DE DE502007001577T patent/DE502007001577D1/en active Active
- 2007-01-19 UA UAA200808962A patent/UA91391C2/en unknown
Also Published As
Publication number | Publication date |
---|---|
WO2007085102A1 (en) | 2007-08-02 |
EP1979112A1 (en) | 2008-10-15 |
EA013444B1 (en) | 2010-04-30 |
CN101374616B (en) | 2010-04-21 |
ES2331490T3 (en) | 2010-01-05 |
DE502007001577D1 (en) | 2009-11-05 |
UA91391C2 (en) | 2010-07-26 |
ATE443584T1 (en) | 2009-10-15 |
KR20080087008A (en) | 2008-09-29 |
EA200801625A1 (en) | 2008-10-30 |
US20100253107A1 (en) | 2010-10-07 |
CN101374616A (en) | 2009-02-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP0241798B1 (en) | Pincers for crimping electrical terminals, cable connectors and the like onto electrical leads, light wave guides, etc | |
DE19963097C5 (en) | Pliers for pressing a workpiece | |
DE10346241B3 (en) | Workpiece compression pliers e.g. for compression of pipe or compression fitting, has one hand lever divided into 2 partial levers for 2-stage compression of workpiece | |
EP1979112B1 (en) | Work transport device | |
DE2718795A1 (en) | PIPE DRILL | |
DE2131759A1 (en) | Transport device for a cross transport press | |
DE2411744B2 (en) | Press for press-connecting an at least partially wire-shaped part to a terminating part | |
EP1080844B1 (en) | Pliers | |
DE1802379B2 (en) | Actuating device for two workpiece gripping fingers on presses and similar machine tools | |
EP1055487A1 (en) | Pliers with parallel jaws | |
DE19817803C1 (en) | Method and apparatus for removing electrode caps, in particular, from a conical seating carried by a welding robot | |
DE20315172U1 (en) | Clamping device for ream of paper resting on table of guillotine, comprising toothed sleeve transforming rotary motion into linear motion | |
DE1477405B2 (en) | ADJUSTMENT DEVICE FOR TOOL CARRIERS, ESPECIALLY FOR BORING BARS OF FINE BORING MACHINES WITH A ROTATING BORING SPINDLE | |
DE19602568C2 (en) | Device for turning a cylinder on and off | |
DE2345767C3 (en) | soldering iron | |
DE10217266C5 (en) | Preßzange for pressing hollow bodies | |
DE1109985B (en) | Cross conveyor device for multi-stage bolt or nut presses | |
DE2255691A1 (en) | ASSEMBLY DEVICE FOR ASSEMBLING WORKPIECES CONSISTING OF INDIVIDUAL PARTS | |
DE19644807A1 (en) | Tool with a multiple toggle mechanism | |
DE2557698C2 (en) | Form transport device | |
DE4132221C2 (en) | Gripper rail transfer device of a multi-stage press | |
DE918845C (en) | In particular, a press intended for the production of screw nuts with at least two pressing tools consisting of a die and a punch | |
EP3572568A1 (en) | Drawing frame and drawing unit for a spinning machine | |
DE202023104194U1 (en) | Tongs | |
DE1281990B (en) | Transport device for step-by-step feed of workpieces |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20080818 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC NL PL PT RO SE SI SK TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: NV Representative=s name: BOHEST AG Ref country code: CH Ref legal event code: EP |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D |
|
REF | Corresponds to: |
Ref document number: 502007001577 Country of ref document: DE Date of ref document: 20091105 Kind code of ref document: P |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FG2A Ref document number: 2331490 Country of ref document: ES Kind code of ref document: T3 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: LT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
LTIE | Lt: invalidation of european patent or patent extension |
Effective date: 20090923 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: SI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: LV Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FD4D |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IS Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100123 Ref country code: RO Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100125 Ref country code: EE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: IE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: CZ Payment date: 20100105 Year of fee payment: 4 Ref country code: ES Payment date: 20091231 Year of fee payment: 4 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: SK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20100128 Year of fee payment: 4 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
PLBE | No opposition filed within time limit |
Free format text: ORIGINAL CODE: 0009261 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100131 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: BE Payment date: 20100303 Year of fee payment: 4 Ref country code: DE Payment date: 20100330 Year of fee payment: 4 Ref country code: NL Payment date: 20091231 Year of fee payment: 4 |
|
26N | No opposition filed |
Effective date: 20100624 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20091224 |
|
BERE | Be: lapsed |
Owner name: HATEBUR UMFORMMASCHINEN A.G. Effective date: 20110131 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: V1 Effective date: 20110801 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20110119 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20110930 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110131 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110131 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110131 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110131 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110119 Ref country code: CZ Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110119 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R119 Ref document number: 502007001577 Country of ref document: DE Effective date: 20110802 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: NL Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110801 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20100131 Year of fee payment: 4 |
|
REG | Reference to a national code |
Ref country code: ES Ref legal event code: FD2A Effective date: 20120220 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: ES Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110120 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20100119 Ref country code: BG Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 Ref country code: HU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20100324 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: TR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20090923 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 443584 Country of ref document: AT Kind code of ref document: T Effective date: 20120119 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20110802 Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20120119 |