EP2600992A1 - Presse à cintrer dotée d'un dispositif de positionnement de pièces ainsi qu'un procédé pour l'exploitation - Google Patents

Presse à cintrer dotée d'un dispositif de positionnement de pièces ainsi qu'un procédé pour l'exploitation

Info

Publication number
EP2600992A1
EP2600992A1 EP11726643.7A EP11726643A EP2600992A1 EP 2600992 A1 EP2600992 A1 EP 2600992A1 EP 11726643 A EP11726643 A EP 11726643A EP 2600992 A1 EP2600992 A1 EP 2600992A1
Authority
EP
European Patent Office
Prior art keywords
stop
bending
finger
workpiece
positioning
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
EP11726643.7A
Other languages
German (de)
English (en)
Other versions
EP2600992B1 (fr
Inventor
Bernhard Fischereder
Thomas Reiter
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.)
Trumpf Maschinen Austria GmbH and Co KG
Original Assignee
Trumpf Maschinen Austria GmbH and Co KG
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 Trumpf Maschinen Austria GmbH and Co KG filed Critical Trumpf Maschinen Austria GmbH and Co KG
Publication of EP2600992A1 publication Critical patent/EP2600992A1/fr
Application granted granted Critical
Publication of EP2600992B1 publication Critical patent/EP2600992B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/002—Positioning devices
    • 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
    • B21D43/003—Positioning devices
    • 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
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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
    • B21D43/26—Stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices

Definitions

  • the invention relates to a method for operating a bending press as described in the preamble of claim 1, and a bending press as described in the preamble of claim 14 and a manufacturing device according to the preamble of claim 27.
  • the document EP 0 738 190 A1 discloses a method and a device for the positionally precise feeding of sheet-metal workpieces for carrying out a bending operation between bending tools of a bending press.
  • the work piece is brought with a gripping device of a handling device in the work area between the bending tools and positioned with respect to a predetermined bending line in accordance with measured data from at least two equipped with measuring sensors stop fingers by appropriate control of adjustment movements of the gripping device of the handling device, after which the bending operation by activating the Press drive takes place.
  • a position detecting device for feeding workpieces into a work area between relatively adjustable bending tools of a bending press by means of a manipulator, by means of which the position of a reference surface of the
  • Workpiece is determined in terms of alignment with a bending plane and a readjustment by adjustment operations of the manipulation device is made when a deviation from a predetermined position occurs. From the document US 4,706,491 A is a with a workpiece for performing a
  • Bending process operable bending press and a method for positioning of the workpiece prior to its insertion between bending tools of the press brake known.
  • the bending press on a surface facing the manipulator of a press bar on a stop device to which the work piece with a reference surface by means of the manipulator applied and thus a reference position is determined, starting from the adjustment of the manipulator for positioning of the workpiece in relation to a predetermined bending of the bending tools in the work area between the bending tools is positioned.
  • the object of the invention is to provide a method for operating a bending press and a bending press and a manufacturing device with a Maschinenteil- positioning for a manual and automated positioning process to minimize unproductive non-productive times and to achieve high positioning accuracy and operator safety.
  • This object of the invention is achieved by the reproduced in the characterizing part of claim 1 measures.
  • the advantage of this is that the loading process of the bending press with the workpiece to be reshaped includes a possibly required by a gripping error alignment process of the workpiece with respect to a bending plane, ie simultaneously expires, thereby saving significant idle time for the positioning process.
  • an advantage is also a measure as described in claim 6 whereby a variable according to the workpiece parameters relative speed between the Workpiece and the stop finger is achieved during the attack process and thus reduces an impulse or impact energy and thus a gentle, workpiece and device-sparing and system vibration reducing impact is achieved.
  • the advantageous measures are possible as described in claim 7, because thereby a time-optimized stop operation is achieved even in very unstable, little intrinsically stiff parts without compromising the positioning accuracy,
  • the object of the invention is advantageously achieved by a bending press according to the characterizing features of claim 14, characterized in that the essential for the exact positioning of the workpiece essential positioning of the stop finger based on the totality of the stop device has a low mass and due to its short positioning times due the possibility of high acceleration at low driving force is achieved and thus further very sensitive adjustment operations can be achieved.
  • the cycle times shortening positioning operations and thus an economical operation of the bending press can be achieved when using multiple tool sets on a bending press to carry out subsequent operations on a workpiece.
  • the object of the invention is also achieved by a manufacturing device as characterized in claim 27, characterized in that the bending machines are arranged at a distance from each other in alignment alignment of the fixed table beams and the distance bridging each other against the table beams of the bending press arranged stop track modules are connected via a bridge module with linear guides for the arrival impact device of the workpiece positioning device.
  • embodiments according to claims 32 to 34 are also advantageous, because as a result an optimized and inherently rigid machine frame is achieved in relation to the strength requirements in accordance with the respective machine type of the bending press and thus the requirements for a high quality of the forming are largely met.
  • FIG. 1 shows a bending press according to the invention in a simplified, perspective view.
  • FIG. 2 shows a production device with bending machines linked to a production cell in view;
  • FIG. 3 shows the production device cut according to the lines III - III in Fig. 2; 4 shows a workpiece positioning device with two stop devices in a simplified, perspective view;
  • Fig. 9 shows a possible embodiment of the bending press according to the invention in view
  • FIG. 10 shows the bending press cut along the lines X - X in FIG. 9;
  • Fig. 11 shows a further embodiment of the stop device of the bending press according to the invention in a simplified representation and positioning of a bending tool with it;
  • Fig. 12 shows another embodiment of the stop device of the bending invention.
  • FIG. 1 shows a production device 1 with at least one bending press 2 and a workpiece handling device 3 for feeding the bending press 2 with workpieces 4 provided for bending deformation.
  • the bending press 2 has a fixed table bar 5, in perpendicular to a footprint 6 alignment and a relative thereto by drive means 7 adjustable press beam 8. On opposite end faces 9, 10 of the table beam 5 and the press bar 8 tool holders 11 are arranged with bending tools 12 ,
  • a tool set 13 formed from the bending tools 12 is provided, wherein it is quite possible to provide a plurality of tool sets 13 over a total length 14 of the table beam 5 and press bar 8 as a tooling to make different bending operations on the workpiece 4 in subsequent operations can ,
  • a workpiece positioning device 16 consisting of two stop devices 17, as will be described in detail later, is provided for positioning the work piece 4 between the bending tools 12 at a rear side of the table beam 5.
  • the workpiece handling device 3 is according to the embodiment shown, a multi-axis robot 20, with a gripping device 21 for the manipulation of the workpiece 4.
  • the manipulation includes the recording of a supply position, the positioning between the bending tools 12, any Umgreifvorgang and depositing after completion of the forming process On a goods carrier or in a collecting container, etc.
  • For performing this manipulation of the multi-axis robot 20 is mounted on a chassis 22 or provided with a chassis 22 and along a arranged on the footprint 6, preferably parallel to the longitudinal extent of the table beam 5 extending guide assembly movable.
  • the bending press 2 and the workpiece handling device 3 is supplied by a central control device 24 with power and control signals, wherein further measuring and control circuits 25 in the control device 25 or externally to the stop device 17 and / or the workpiece handling device 3 or integrated in a Operator terminal of the bending press 2 may be provided with other switching and display elements.
  • FIG. 2 and 3 there is shown a concatenation of two bending presses 2 to the manufacturing equipment 1, with different types of machines, e.g. in terms of their pressing force, are combined.
  • different types of machines e.g. in terms of their pressing force
  • the combined bending presses 2 have a common stop device 17, which can be positioned with respect to the tool sets 13, and a handling device 3 which operates both bending presses 2.
  • control device 24 with the decentralized measurement and control circuits 25 of the bending presses 2 and / or the workpiece handling device 3 from the outset on a plurality of parallel input and output interfaces 31 and thus for the connection of a plurality of Measuring and control circuits 25 is designed.
  • the stopper 17 of the Werkteil- positioning device 16 is shown in detail.
  • the stop track module 32 On the rear side of the table beam 5, several stop track modules 32, in an exactly predetermined position with respect to the end face 10 of the table beam 5, are fastened in the longitudinal direction of one another in alignment.
  • the stop track module 32 has two linear guides 33, 34, which run parallel to one another at a distance 35 and aligned with the stop track module 32 to the end face 10.
  • the linear guides 33, 34 are formed by strip-shaped guide profiles, wherein a large number of differently ausgestalteter profiles of the prior art are possible and the execution is not limited to the embodiment shown with Gleitbahn Entryen.
  • These slideways 33, 34 adjustably support a sled module 36 via guide elements 37 cooperating therewith and connected to the linear guides 33, 34.
  • An adjustment of the carriage module 36 along the linear guides 33, 34 takes place by means of an arranged on the slide module 36, electric drive means 38 which is provided with a pinion 39 and which engages with a rack 40 on a bottom 41 of the stop rail module 32 thereby Pinion 42 is formed as a drive assembly 43 for an adjustment of the drive device 17 in a Z-axis direction 44 - according to double arrow 45 -.
  • the electric drive means 38 is preferably a servomotor and the drive arrangement 43 and the control is designed as an NC positioning axis.
  • a finger carrier 46 is mounted in a direction perpendicular to the Z axis direction 44 R- axis direction 47 - according to double arrow 48 - in a linear guide track 49 adjustable.
  • the finger carrier 46 has a further, arranged thereon, electric drive means 50, which is in driving connection with a toothed pinion 51 with a linear tooth formation 52 on the carriage module 36 and thus a further drive assembly 53 of the stop device 17 is formed.
  • the electric drive means 50 is preferably a Servomotor and the drive assembly 53 and the controller is designed as NC positioning axis.
  • the finger carrier 46 supports an abutment finger 59 adjustably on a top side 54 in a linear guide track 55 in a bending plane 56 perpendicular to the bending plane 56, and this stop finger 59 forms at least one abutment surface 60 facing the bending plane 56 for the abutment Positioning of the workpiece 4 with respect to the bending plane 56.
  • a drive arrangement 61 for the stop finger 59 is formed by an electric drive means 62 arranged on the finger carrier 46, which is and is in drive connection with a toothed pinion 63 with a linearly extending tooth formation 64 of the stop finger 59 the electric drive means 62 preferably reaches a servomotor with a rotary encoder 65 and thus an NC control for adjusting the stop finger 59 in the X-axis direction 57.
  • the drive means 38, 50, 62 are connected via lines to the input and output interface 31.
  • FIGS. 4 and 5 for example, for the positioning of the workpiece 4, for the exact alignment of the workpiece 4 with respect to the bending plane 56, two similar and independent, both in the Z-axis 44, the R- axis direction 47 and the X-axis direction 58 - according to double arrows 45, 48, 59 - brought adjustable stop devices 17 are used, the drive for a tionierierier the workpiece 4 on the bending tool 12, as will be described in detail below, from the central control device 24 and the measuring and control circuit 25 associated with each stop device 17.
  • the drive arrangements 43, 53 and 61 for the positioning operations of the stop devices 17 in the R, X and Z axis directions are NC-controlled and thus any required axis can be accurately positioned and any position and / or position change for continuing control and regulatory measures exactly detectable.
  • the bending tool 12 forms a support plane 66 for the immediate bending region of the workpiece 4 for a forming process.
  • the stop finger 59 is graduated in its region facing the bending tool 12 with, for example, two stop surfaces 60 distanced in the adjustment direction of the stop finger 59.
  • the graduated design offers the possibility of supporting the free end region of the work piece 4 projecting beyond the bending tool 12 onto a support surface 67 of the stop finger 59 brought into alignment alignment with the support plane 66.
  • the workpiece 4 is picked up by a gripping device 68, for example grasping forceps 69, suction grippers, magnetic grippers, etc., of the handling device 3, and by corresponding movement sequences spent in the immediate work area of the bending press 2.
  • the gripping device 68 for example the gripping tongs 69, is pivotable about a pivoting axis 72 via a rotary unit 70 in an end region of an arm 71 of the handling device 3 - in accordance with the double arrow 73.
  • Positioning process Z- axis direction In this case, an adjusting operation of the stop devices 17 relative to each other in the Z axis direction - whereby they are positioned at a distance 74 depending on the workpiece geometry and corresponding to the position of the bending tools on table and press beams.
  • Positioning process R- axis direction Simultaneously with the positioning process in the X-axis direction, an adjustment process of the finger carriers 46 with the stop fingers 59 in the R- axis direction - whereby the stop fingers 59 are positioned in their altitude with respect to the support plane 66, depending on a bending tool height ,
  • Positioning procedure X- axis direction Simultaneous to the o. G.
  • the drive means 62 in particular in response to the approach of the stop finger 59 to the stop start position 78 speed - Controlled and power controlled, the other movements of the stop device 17 and the stop finger 59 are preferably performed under full power and the highest possible speeds.
  • the force limitation via the motor current control is preferably activated only when approaching the stop start position 78, and the remaining motion sequences take place at high actuating speeds, ie at full load to reduce the non-productive times.
  • stop device 17 An advantage according to the structural design of the stop device 17 is a small, moving mass of the stop finger 59 compared to conventional stopper devices which generally have relatively high moving masses. Accordingly, the stopper fingers 59, which are directly driven, are preferably formed of lightweight materials such as aluminum, plastic, etc.
  • the stop start position 78 is preceded by a predetermined, selectable distance 79 of a predetermined stop end position 80 against the feed direction of the workpiece 4 shown in arrow 81.
  • the stop end position 80 results from the position of a bending line 82 with respect to a workpiece abutment surface 83 and thus a corresponding distance 84 to the bending plane 56th
  • the workpiece 4 is received by the gripping device 68 in a receiving position deviating from a parallel alignment of the workpiece abutment surface 83 to the bending plane 56.
  • the intended bending line 82 extends at an angle 85 to the bending plane 56 and must compensate this angular deviation in order to obtain an exact bending deformation, e.g. parallel to the contact surface 83 should be corrected before the forming process.
  • system parameters are taken into account when specifying an adjustable resistor takes into account that the system parameters, in particular the power required for an adjustment of the stop fingers and takes into account the internal frictional forces are determined by Kalibrierverstellvortician. Taking into account a basic power requirement determined in this way, the adjustment resistance to be set by the stop finger 59 of an adjustment into the stop end position 80 can be very sensitive to the workpiece part parameters, between a "soft" and “hard” stop dynamics, up to one Fixed stop corresponding locking function in the stop end position 80 are regulated.
  • both stop fingers 59 remain on position control in the stop start position 78 as a desired position. Due to the underlying force control, an adjustment in the direction of the abutment end position 80 is set by the supplied with the Maschinenteil- handling device 3 workpiece part 4 a predetermined, freely configurable force, which may be smaller by an active friction compensation, as the stiction of the X in - The axial direction displaceable stop finger 59.
  • the opposite force is advantageously greater than the Werkteil- static friction when resting on the stop finger 59th
  • stop pulse signals generated on the stop fingers 59 is to generate the stop pulse signals as load signals from the power change, detected by a motor current measurement of the drive means 62 of the first and second stop device 17 - and the implementation takes place in the position correction of the workpiece 4, starting from the thus generated stop pulse signals as already described above.
  • the essential criteria for the control of the drive means 38, 50, 62 with the resulting advantages of an acceleration of the positioning process, taking into account the system and workpiece parameters, increase the operating safety and other analogous for these axes and for a one-dimensional positioning of the Factory part 4, when using only one of the stop devices 17, applicable.
  • FIGS. 9 and 10 show a further embodiment of the bending press 2 which is designed, in particular, for linking to a production device 1 comprising a plurality of bending presses 2 and in which, by means of an adapted C-shape of side posts 86, there is freedom of movement for the stop device to move 17 is provided between the adjacently arranged bending presses.
  • stop track modules 32 and bridge modules arranged in an intermediate space of adjacent bending presses 2, as already described above are combined.
  • a cutout 87 is provided in a front side 88 of the side stand 86 which is adapted to an outer contour of the stop device 17.
  • This cutout 87 has an approximately semicircular curve shape between a plane end face 89 in the region of the table beam 5 and a plane end face 90 in the region of the press bar 8. ,
  • FIG. 11 shows in a simplified representation the stop device 17 with the finger carrier 46 and the stop finger 59.
  • the finger carrier 46 is adjustable relative to the table beam 5 in the R-axis direction 47 and the Z-axis direction 44 and the stop finger 59 relative to the finger carrier 46 and perpendicular to the bending plane 56.
  • FIG. 11 does not deal with the details already described, such as, for example, the guide and drive arrangements, etc.
  • FIG. 11 now shows the detection of the position of the bending tool 12 in a receiving device 95 which is supported on the table bar 5 and has fixing devices for the bending tools 12 which are not further shown.
  • their position in the tool holder and the bending tool 12 or a tool set is also brought into the receiving device manually or by means of the handling device for a specific forming operation on a work piece and as shown in FIG. 11, for example.
  • the positioning operation is carried out by means of the stop device 17 in which the positioned stop finger 59 with a stop element 96, the position of, for example, a reference surface 97 of the bending tool 12 pretends. Following this positioning process, the fixing of the bending tool takes place in the receiving device.
  • FIG. 12 shows in detail a design of the stop device 17 with a possible embodiment of the stop finger 59 which can be adjusted on the finger carrier 46 in the X-axis direction 57.
  • the finger carrier 46 is in the R axis direction.
  • tion 47 and the Z-axis direction 44 adjustable with the already described details such as the guide and drive assemblies, etc. is no longer discussed.
  • the stop finger 59 is preferably provided with a plurality of, in the embodiment shown with three of the stop elements 96, which form three stop planes by a Abtreppung the stop finger 59 for the workpiece 4 substantially.
  • An Ancoming Schemeen 99 of the stop members 96 is in a gate shape with an exemption for the corner of the workpiece 4 and is thus a line-shaped system for the workpiece 4 in two mutually perpendicular reference planes 100, 101 achieved.
  • Multi-axis robot 60 stop surface
  • Control device 64 Teeth education
  • Stop rail module 72 pivot axis
  • Linear guide 73 double arrow

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

L'invention concerne une presse à cintrer (2) ainsi qu'un appareil de production (1) et un procédé pour exploiter un tel dispositif, doté d'un dispositif (3) de manipulation de pièces et d'un appareil de commande central (24) et d'un dispositif (16) de positionnement de pièces, d'un premier dispositif de butée (17) et d'au moins un autre dispositif de butée (17) comportant des doigts de butée réglables dans une direction d'axe X agencée perpendiculairement à un plan de cintrage, pour le positionnement d'une pièce sur un premier outil de cintrage (12) pour une déformation de cintrage entre le premier outil de cintrage (12) et un second outil de cintrage (12) réglable par rapport au premier. Le dispositif de butée (17) présente un module de coulisseau et un support de doigt avec le doigt de butée et au moins un moyen d'entraînement pour le réglage du doigt de butée est formé par un servomoteur actionné par un circuit de mesure et de réglage (25) de l'appareil de commande (24).
EP11726643.7A 2010-08-05 2011-05-02 Presse à cintrer dotée d'un dispositif de positionnement de pièces ainsi qu'un procédé pour l'exploitation Active EP2600992B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0131510A AT509857B1 (de) 2010-08-05 2010-08-05 Biegepresse mit einer werkteil-positionier- vorrichtung sowie ein verfahren zum betrieb
PCT/AT2011/000212 WO2012016252A1 (fr) 2010-08-05 2011-05-02 Presse à cintrer dotée d'un dispositif de positionnement de pièces ainsi qu'un procédé pour l'exploitation

Publications (2)

Publication Number Publication Date
EP2600992A1 true EP2600992A1 (fr) 2013-06-12
EP2600992B1 EP2600992B1 (fr) 2014-07-09

Family

ID=44484072

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11726643.7A Active EP2600992B1 (fr) 2010-08-05 2011-05-02 Presse à cintrer dotée d'un dispositif de positionnement de pièces ainsi qu'un procédé pour l'exploitation

Country Status (7)

Country Link
US (1) US9278383B2 (fr)
EP (1) EP2600992B1 (fr)
CN (1) CN103124602B (fr)
AT (1) AT509857B1 (fr)
DK (1) DK2600992T3 (fr)
ES (1) ES2511654T3 (fr)
WO (1) WO2012016252A1 (fr)

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CN109590398B (zh) * 2019-01-30 2020-04-28 福建渃博特自动化设备有限公司 一种板件调平方法及终端
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CN112808804A (zh) * 2019-11-18 2021-05-18 江苏畅通车业发展有限公司 一种外板件两端半圆耳折弯工装
CN111069382A (zh) * 2020-01-09 2020-04-28 新多集团有限公司 一种调节折边距离的门板折边定位装置
CN111922150A (zh) * 2020-08-15 2020-11-13 广东翠峰机器人科技股份有限公司 一种十轴数控折弯设备及折弯方法
CN112087870B (zh) * 2020-09-22 2022-10-25 江苏鑫迈迪电子有限公司 一种光器件用柔性电路板生产的成型折弯装置
CN112387833B (zh) * 2020-10-09 2022-07-01 青岛杰瑞工控技术有限公司 一种列车传感器止动垫片自动折弯机构
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CN112658151B (zh) * 2021-01-22 2022-05-17 青岛盛通机械科技有限公司 一种柔性折弯中心七轴联动压板送料装置
CN113359478B (zh) * 2021-07-15 2023-07-25 广东工业大学 单自由度直线运动平台非均匀导轨摩擦参数的辨识方法
CN113751548B (zh) * 2021-09-24 2023-04-28 安徽东海机床制造有限公司 一种异形工件自动折弯装置
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US20130160508A1 (en) 2013-06-27
ES2511654T3 (es) 2014-10-23
CN103124602A (zh) 2013-05-29
EP2600992B1 (fr) 2014-07-09
DK2600992T3 (da) 2014-10-13
AT509857B1 (de) 2011-12-15
AT509857A4 (de) 2011-12-15
WO2012016252A1 (fr) 2012-02-09
CN103124602B (zh) 2016-05-11
US9278383B2 (en) 2016-03-08

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