EP2338653B1 - fluid jet cutting machine - Google Patents
fluid jet cutting machine Download PDFInfo
- Publication number
- EP2338653B1 EP2338653B1 EP20100405237 EP10405237A EP2338653B1 EP 2338653 B1 EP2338653 B1 EP 2338653B1 EP 20100405237 EP20100405237 EP 20100405237 EP 10405237 A EP10405237 A EP 10405237A EP 2338653 B1 EP2338653 B1 EP 2338653B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- workpiece
- support
- catch basin
- workpiece support
- fluid jet
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
- B26F3/008—Energy dissipating devices therefor, e.g. catchers; Supporting beds therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T83/00—Cutting
- Y10T83/364—By fluid blast and/or suction
Definitions
- the invention relates to a processing device for processing a workpiece by means of at least one liquid jet according to the preamble of claim 1.
- the processing device In operation, the processing device generates a liquid jet, e.g. B. a jet of water, which penetrates a material to be cut and thus separates this into two or more parts. After the penetration of the material, the liquid jet has a certain residual energy, which is degraded in a usually filled with water catch basin (also called “jet catcher").
- a liquid jet e.g. B. a jet of water
- Fig. 5 shows such a known device with a frame 10 ', to which the catch basin 29' and the workpiece support 20 'for a workpiece 21' are attached. Due to this construction, the vibrations generated by the catch basin 29 'are transmitted via the frame 10' to the workpiece support 20 'and finally to the workpiece 21'. As a result, a precise machining of the workpiece 21 'is made more difficult.
- the catch basin is arranged free-standing with respect to the workpiece support. Due to this decoupled arrangement transfers of vibrations of the catch basin can be prevented on the workpiece support. As a result, a workpiece is machined more accurately.
- FIGS. 1 and 2 show, the processing device on a carrier 10 in the form of a first frame, which stands on support feet 10a on the ground. These have holes to screw the first frame 10 to the ground.
- a cutting head 12 is arranged, which is movable transversely to the bridge 11 and thus movable in the plane. Further, the cutting head 12 is movable vertically to this plane, so that it is movable in three independent axes.
- the processing device is equipped with the usual components to a liquid jet, z. B. to produce a water jet, which separates a material layer along a contour at the exit from the cutting head 12.
- the processing device comprises a workpiece support 20 on which a workpiece 21 to be machined rests.
- the workpiece support 20 is provided in the inner region with a recess 20a and thus forms a frame on which the workpiece 21 rests on the edge.
- the processing device is provided with holding means 22 for holding the workpiece 21.
- the holding means 22 are z. B. formed as terminals, by means of which the workpiece 21 is pressed against the workpiece support 20.
- a sump 29 is arranged within the first frame 10.
- This comprises a second frame 30 which stands on feet 30a on the ground. These have holes to screw the second frame 30 to the ground.
- the feet 30a of the second frame 30 and the support feet 10a of the first frame 10 may be provided with damping elements, so that vibrations between the frame 30 or 10 and the floor are not or only in muted mass transferable.
- the sump 29 has a sufficient depth to efficiently reduce the residual energy which the liquid jet has after penetrating the workpiece 21 to be cut.
- the second frame 30 is closed at its four side walls as well as at the bottom with a metal plate 31, so that an open-topped container is formed.
- the side walls 31 of the collecting basin 29 extend beyond the level at which the workpiece support 20 is located.
- the catch basin 29 can be filled with water up to the workpiece 21. The liquid jet therefore dips directly into the water as it emerges from the bottom of the workpiece 21.
- Fig. 4 Like the detail view in Fig. 4 shows, two opposite side walls 31 of the collecting basin 29 are provided with through holes 32, through which each a fastener 40 protrudes.
- the diameter of the passage opening 32 is sufficiently large, so that the respective fastener 40 does not touch the side wall 31 of the catch basin 29, even then, if in operation catch basin 29 and support 10 oscillate relative to each other.
- the respective fastening element 40 is designed in the form of a bolt, at the inner end of which a bearing surface 40a is formed and at the outer end of which a flange 40b is arranged.
- the workpiece support 20 rests on the support surface 40a and is connected thereto by means of a releasable connection 41, z. B. a screw connection connected.
- the outer end of the bolt 40 is passed through an opening in the first frame 10 and secured thereto via the flange 40b.
- the passage opening 32 is surrounded by a pipe section 33 which is fixed to the side wall 31 of the catch basin 29.
- a seal 35 in the form of a z. B. made of rubber cuff is provided, which encloses the end of the pipe section 33 and the bolt 40.
- the sump 29 and the unit of components 10, 11, 12, 20, 22 are placed separately from each other and - if necessary - attached to the ground.
- the sump 29 is filled with water.
- the workpiece 21 rests on the workpiece support 20 and is fixed by means of the holding means 22.
- the contour, along which the workpiece 21 is divided, lies within the recess 20 a of the workpiece support 20, so that the liquid jet, when it exits from the underside of the workpiece 21, unhindered by the Workpiece support 20 pass and can propagate in the water of the catch basin 29.
- the residual energy of the liquid jet is absorbed, which can lead to vibrations of the collecting basin 29.
- the actual processing device with the carrier 10 and the movable cutting head 12 forms together with the fixedly connected workpiece support 20 a separate unit which is arranged decoupled from the catch basin 29.
- the catch basin 29 is therefore arranged free-standing with respect to the workpiece support 20.
- the seals 35 between the two racks 10 and 30 prevents water from passing through the through-holes 32 to the outside.
- the decoupling of collection jaws 29 and workpiece support 20 can be used for various types of processing by means of liquid jet to achieve a precise machining, z.
- abrasive cutting in which abrasive particles are added to the water, and / or for cutting by means of other types of liquids.
- z. B. baffles or the like may be installed in order to reduce the residual energy of the liquid jet in a more efficient manner.
Description
Die Erfindung bezieht sich auf eine Bearbeitungsvorrichtung zum Bearbeiten eines Werkstücks mittels mindestens eines Flüssigkeitsstrahls gemäss Oberbegriff des Patentanspruches 1.The invention relates to a processing device for processing a workpiece by means of at least one liquid jet according to the preamble of claim 1.
Im Betrieb erzeugt die Bearbeitungsvorrichtung einen Flüssigkeitsstrahl, z. B. einen Wasserstrahl, der ein zu schneidendes Material durchdringt und so dieses in zwei oder mehrere Teile trennt. Nach der Durchdringung des Materials weist der Flüssigkeitsstrahl eine gewisse Restenergie auf, die in einem in der Regel mit Wasser gefüllten Auffangbecken (auch "Strahlcatcher" genannt) abgebaut wird.In operation, the processing device generates a liquid jet, e.g. B. a jet of water, which penetrates a material to be cut and thus separates this into two or more parts. After the penetration of the material, the liquid jet has a certain residual energy, which is degraded in a usually filled with water catch basin (also called "jet catcher").
Beim Abbau der Restenergie im Auffangbecken, kann dieses in Schwingungen versetzt werden. Die am Markt angebotenen Vorrichtungen sind als Einheit aufgebaut, indem Auffangbecken und Werkstückauflage fest mit einem Rahmengestell verbunden sind.
Es ist auch bekannt, die Werkstückauflage direkt am Auffangbecken zu befestigen und diese Einheit separat vom Rest der Vorrichtung anzuordnen. Diese Konstruktion ist hinsichtlich Schwingungsübertragung noch ungünstiger, da die beim Betrieb entstehenden Schwingungen des Auffangbeckens direkt auf die Werkstückauflage übertragen werden. Es können sich auch andere äussere Einflüsse, z. B. Vibrationen des Bodens, auf das Werkstück übertragen und/oder das Auffangbecken mit der Werkstückauflage und dem zu schneidenden Werkstück können sich sogar vom Rest der Vorrichtung verschieben. Insgesamt resultieren unerwünschte Ungenauigkeiten in der Bearbeitung und somit ein Qualitätsverlust.It is also known to attach the workpiece support directly to the catch basin and to arrange this unit separately from the rest of the device. This construction is even less favorable in terms of vibration transmission, since the oscillations of the collecting basin arising during operation be transferred directly to the workpiece support. It can also other external influences, eg. As vibrations of the soil, transferred to the workpiece and / or the catch basin with the workpiece support and the workpiece to be cut can even move from the rest of the device. Overall, unwanted inaccuracies in processing and thus a loss of quality result.
Aus der
Es ist eine Aufgabe der vorliegenden Erfindung, eine Bearbeitungsvorrichtung anzugeben, welche eine präzise Werkstücksbearbeitung erlaubt.It is an object of the present invention to provide a machining apparatus which allows precise workpiece machining.
Diese Aufgabe wird durch die Bearbeitungsvorrichtung gemäss dem Patentanspruch 1 gelöst. Die weiteren Ansprüche geben bevorzugte Ausführungen der erfindungsgemässen Bearbeitungsvorrichtung sowie deren Verwendung an.This object is achieved by the processing device according to claim 1. The other claims indicate preferred embodiments of the inventive processing device as well as their use.
Bei der erfindungsgemässen Bearbeitungsvorrichtung ist das Auffangbecken in Bezug auf die Werkstückauflage freistehend angeordnet. Aufgrund dieser entkoppelten Anordnung können Übertragungen von Schwingungen des Auffangbeckens auf die Werkstückauflage verhindert werden. Dadurch ist ein Werkstück genauer bearbeitbar.In the inventive processing device, the catch basin is arranged free-standing with respect to the workpiece support. Due to this decoupled arrangement transfers of vibrations of the catch basin can be prevented on the workpiece support. As a result, a workpiece is machined more accurately.
Weitere spezifische Konstruktionsmerkmale und deren Vorteile sind nachfolgend aus der Beschreibung und den Zeichnungen eines Ausführungsbeispiels ersichtlich, in welchen
-
Fig. 1 eine perspektivische Ansicht einer erfindungsgemässen Bearbeitungsvorrichtung, -
Fig. 2 eine Draufsicht der Vorrichtung gemässFig. 1 , einen Schnitt der Vorrichtung in der Ebene III-III gemässFig. 2 , -
Fig. 4 eine Detailansicht ausFig. 3 , und -
Fig. 5 eine perspektivische Ansicht einer bekannten Bearbeitungsvorrichtung darstellen.
-
Fig. 1 a perspective view of a processing device according to the invention, -
Fig. 2 a plan view of the device according toFig. 1 . a section of the device in the plane III-III according toFig. 2 . -
Fig. 4 a detailed viewFig. 3 , and -
Fig. 5 represent a perspective view of a known processing device.
Wie
Die Bearbeitungsvorrichtung umfasst eine Werkstückauflage 20, auf welcher ein zu bearbeitendes Werkstück 21 aufliegt. Im vorliegenden Ausführungsbeispiel ist die Werkstückauflage 20 im inneren Bereich mit einer Ausnehmung 20a versehen und bildet so einen Rahmen, auf welchem das Werkstück 21 am Rand aufliegt.The processing device comprises a
Wie auch
Innerhalb des ersten Rahmengestells 10 ist ein Auffangbecken 29 angeordnet. Dieses umfasst ein zweites Rahmengestell 30, welches über Füsse 30a auf dem Boden steht. Diese weisen Löcher auf, um das zweite Rahmengestell 30 am Boden festzuschrauben.Within the
Die Füsse 30a des zweiten Rahmengestells 30 sowie die Trägerfüsse 10a des ersten Rahmengestells 10 können mit Dämpfungselementen versehen sein, so dass Vibrationen zwischen Gestell 30 bzw. 10 und Boden nicht oder nur in gedämpften Masse übertragbar sind.The
Das Auffangbecken 29 weist eine genügende Tiefe auf, um die Restenergie, welche der Flüssigkeitsstrahl nach der Durchdringung des zu schneidenden Werkstücks 21 aufweist, effizient abbauen zu können. Das zweite Rahmengestell 30 ist jeweils an dessen vier Seitenwänden sowie am Boden mit einer Blechplatte 31 verschlossen, so dass ein oben offener Behälter gebildet ist. Die Seitenwände 31 des Auffangbeckens 29 reichen über das Niveau hinaus, auf welcher sich die Werkstückauflage 20 befindet. Dadurch kann das Auffangbecken 29 bis zum Werkstück 21 mit Wasser gefüllt werden. Der Flüssigkeitsstrahl taucht deshalb direkt ins Wasser, wenn er aus der Unterseite des Werkstücks 21 heraustritt.The
Wie auch die Detailansicht in
Das jeweilige Befestigungselement 40 ist in Form eines Bolzens ausgebildet, an dessen inneren Ende eine Auflagefläche 40a gebildet und an dessen äusseren Ende ein Flansch 40b angeordnet ist. Die Werkstückauflage 20 liegt auf der Auflagefläche 40a auf und ist mit dieser mittels einer lösbaren Verbindung 41, z. B. einer Schraubenverbindung, verbunden. Das äussere Ende des Bolzens 40 ist durch eine Öffnung im ersten Rahmengestell 10 hindurchgeführt und über den Flansch 40b an diesem befestigt.The
Im vorliegenden Ausführungsbeispiel ist die Durchgangsöffnung 32 von einem Rohrabschnitt 33 umgeben, welcher an der Seitenwand 31 des Auffangbeckens 29 befestigt ist. Eine Dichtung 35 in Form einer z. B. aus Gummi gefertigten Manschette ist vorgesehen, welche endseitig den Rohrabschnitt 33 sowie den Bolzen 40 umschliesst.In the present embodiment, the
Zur Montage der Bearbeitungsvorrichtung werden das Auffangbecken 29 und die Einheit aus Komponenten 10, 11, 12, 20, 22 separat voneinander platziert und - falls erforderlich - am Boden befestigt.To mount the processing device, the
Im Betrieb ist das Auffangbecken 29 mit Wasser gefüllt. Das Werkstück 21 liegt auf der Werkstückauflage 20 auf und ist mittels den Haltemitteln 22 fixiert. Die Kontur, entlang welcher das Werkstück 21 geteilt wird, liegt innerhalb der Ausnehmung 20a der Werkstückauflage 20, sodass der Flüssigkeitsstrahl, wenn er aus der Unterseite des Werkstücks 21 austritt, ungehindert durch die Werkstückauflage 20 hindurchtreten und sich im Wasser des Auffangbeckens 29 fortpflanzen kann. Dabei wird die Restenergie des Flüssigkeitsstrahls absorbiert, was zu Schwingungen des Auffangbeckens 29 führen kann.In operation, the
Die eigentliche Bearbeitungsvorrichtung mit dem Träger 10 und dem verfahrbaren Schneidkopf 12 bildet zusammen mit der fix verbundenen Werkstückauflage 20 eine separate Einheit, die vom Auffangbecken 29 entkoppelt angeordnet ist. Das Auffangbecken 29 ist demnach in Bezug auf die Werkstückauflage 20 freistehend angeordnet. Durch diese Anordnung können Schwingungen des Auffangbeckens 29, die vom Abbau der Restenergie oder auch von anderen Einflüssen wie etwaigen Vibrationen des Bodens herrühren, nicht auf die Werkstückauflage 20 und somit auch nicht auf das Werkstück 21 übertragen werden. Insgesamt ist der Flüssigkeitsstrahl in Bezug auf das Werkstück 21 präzise verfahrbar, so dass eine sehr genaue Bearbeitung möglich ist.The actual processing device with the
Die Dichtungen 35 zwischen den beiden Gestellen 10 und 30 verhindert, dass Wasser durch die Durchgangsöffnungen 32 nach aussen gelangt.The
Die Entkoppelung von Auffangbacken 29 und Werkstückauflage 20 ist für diverse Bearbeitungsarten mittels Flüssigkeitsstrahl einsetzbar, um eine präzise Bearbeitung zu erzielen, z. B. für das Reinwasserschneiden, Abrasivschneiden, bei welchem dem Wasser Abrasivteilchen zugesetzt werden, und/oder zum Schneiden mittels anderen Arten von Flüssigkeiten.The decoupling of
Aus der vorangehenden Beschreibung sind dem Fachmann zahlreiche Abwandlungen zugänglich, ohne den Schutzbereich der Erfindung zu verlassen, der durch die Ansprüche definiert ist.From the foregoing description, numerous modifications will be apparent to those skilled in the art without the scope of protection to leave the invention, which is defined by the claims.
So ist es denkbar, bei der Bearbeitungsvorrichtung mehr als einen Schneidkopf vorzusehen, um die Bearbeitung effizienter zu gestalten.Thus, it is conceivable to provide more than one cutting head in the processing device in order to make the machining more efficient.
Anstelle der vier Bolzen 40 sind auch andere Arten von Befestigungsmitteln denkbar, um die Werkstückauflage 20 am Träger 10 zu befestigen.Instead of the four
Im Auffangbecken 29 können zusätzliche Hindernisse, z. B. Leitbleche oder Ähnliches eingebaut sein, um die Restenergie des Flüssigkeitsstrahls auf effizientere Weise abbauen zu können.In the
Claims (12)
- Machining device for machining a workpiece (21) by means of at least one fluid jet, comprising
a workpiece support (20) and
a catch basin (29) for dissipating the energy, which the at least one fluid jet has after penetration of the workpiece (21), wherein
the catch basin (29) is arranged in a free-standing manner in relation to the workpiece support (20) in order to avoid the transmission of vibrations from the catch basin to the workpiece support, characterised in that
the catch basin (29) comprises side walls (31), which extend beyond the level at which the workpiece support (20) is located, so that the catch basin (29) can be filled with water up to the workpiece (21). - Device according to claim 1, with a support (10), on which a cutting head (12) is displaceably arranged, from which cutting head the fluid jet is discharged in the machining process, wherein the workpiece support (20) is fixedly connected to the support (10), preferably the cutting head (12) being movably arranged in at least three independent axes.
- Device according to claim 2, wherein for its exchange, the workpiece support (20) is detachably connected to the support (20), preferably by means of a screw connection (41).
- Device according to any one of claims 2 to 3, wherein the support (10) comprises a frame with feet (10a).
- Device according to any one of claims 2 to 4, with fastening elements (40), which are fastened to the support (10) and on which the workpiece support (20) is resting.
- Device according to any one of claims 2 to 5, wherein the catch basin (29) has passages (32), through which the fastening elements (40) extend.
- Device according to claim 6, with seals (35) for sealing the passages (32).
- Device according to any one of claims 5 to 7, wherein the respective fastening element (40) comprises a bolt with a bearing surface (40a) for the workpiece support (20) and/or a flange (40b) for fastening it to the support (10).
- Device according to any one of the preceding claims, wherein the catch basin (29) comprises a frame (30) with feet (30a), which is provided with side walls (31) and a bottom.
- Device according to any one of the preceding claims, with retaining means (22) for the detachable fixture of the workpiece (21) on the workpiece support (20).
- Device according to any one of the preceding claims, wherein, for cutting, the least one fluid jet is displaceable along a contour, the workpiece support (20) being designed such that the workpiece (21) is hold in a stationary manner during cutting by means of the fluid jet.
- Use of a device according to any one of the preceding claims for machining a workpiece (21).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CH01936/09A CH702452A1 (en) | 2009-12-17 | 2009-12-17 | Processing apparatus for processing a workpiece by means of at least one liquid jet. |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2338653A1 EP2338653A1 (en) | 2011-06-29 |
EP2338653B1 true EP2338653B1 (en) | 2012-11-14 |
Family
ID=42062262
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20100405237 Active EP2338653B1 (en) | 2009-12-17 | 2010-12-14 | fluid jet cutting machine |
Country Status (3)
Country | Link |
---|---|
US (1) | US10391666B2 (en) |
EP (1) | EP2338653B1 (en) |
CH (1) | CH702452A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3391996A1 (en) | 2017-04-21 | 2018-10-24 | Microwaterjet AG | Device and method for processing a workpiece using abrasive liquid jets |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103029163B (en) * | 2012-12-27 | 2016-01-13 | 广州华臻机械设备有限公司 | Large-scale Split type gantry high pressure waterjet platform |
CN105437086B (en) * | 2015-12-21 | 2017-06-06 | 佛山市永盛达机械有限公司 | A kind of water-jet cutting machine damper |
CN113245768B (en) * | 2021-07-15 | 2021-09-28 | 广东寻米科技有限公司 | Double-station plate cutting robot and working method thereof |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
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US4204448A (en) * | 1978-11-13 | 1980-05-27 | Gerber Garment Technology, Inc. | Fluid jet cutting apparatus having self-healing bed |
US4656791A (en) * | 1984-09-27 | 1987-04-14 | Libbey-Owens-Ford Company | Abrasive fluid jet cutting support |
DE8518255U1 (en) * | 1985-06-24 | 1985-09-26 | Ditzel Werkzeug- und Maschinenfabrik GmbH, 6369 Schöneck | Support and transport device for flat workpieces |
US5003729A (en) * | 1988-10-11 | 1991-04-02 | Ppg Industries, Inc. | Support system for abrasive jet cutting |
US5349788A (en) * | 1992-10-17 | 1994-09-27 | Saechsishe Werkzeug Und Sondermaschinen Gmbh | Apparatus for catching residual water jet in water jet cutting apparatus |
US5472367A (en) * | 1993-10-07 | 1995-12-05 | Omax Corporation | Machine tool apparatus and linear motion track therefor |
US5782673A (en) * | 1996-08-27 | 1998-07-21 | Warehime; Kevin S. | Fluid jet cutting and shaping system and method of using |
EP0927597B1 (en) * | 1997-11-03 | 2000-09-06 | RAINER S.r.l. | Machine for cutting sheet metal and similar |
SG121700A1 (en) * | 2001-12-28 | 2006-05-26 | Jetsis Int Pte Ltd | A method and related apparatus for cutting a product from a sheet material |
JP4623710B2 (en) * | 2003-09-05 | 2011-02-02 | 衛 光石 | Curved surface processing method |
JP4473599B2 (en) * | 2004-02-23 | 2010-06-02 | 株式会社ディスコ | Water jet processing equipment |
JP2009083022A (en) * | 2007-09-28 | 2009-04-23 | Sugino Mach Ltd | Jet-stream processing device and origin correction method in jet-stream processing device |
WO2009102767A2 (en) * | 2008-02-11 | 2009-08-20 | Fanuc Robotics America, Inc. | Method of controlling a robot for small shape generation |
-
2009
- 2009-12-17 CH CH01936/09A patent/CH702452A1/en not_active Application Discontinuation
-
2010
- 2010-12-14 EP EP20100405237 patent/EP2338653B1/en active Active
- 2010-12-15 US US12/968,729 patent/US10391666B2/en not_active Expired - Fee Related
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3391996A1 (en) | 2017-04-21 | 2018-10-24 | Microwaterjet AG | Device and method for processing a workpiece using abrasive liquid jets |
Also Published As
Publication number | Publication date |
---|---|
EP2338653A1 (en) | 2011-06-29 |
CH702452A1 (en) | 2011-06-30 |
US10391666B2 (en) | 2019-08-27 |
US20110146467A1 (en) | 2011-06-23 |
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