EP3210685B1 - Maschine und verfahren zum biegen von rohrförmigen produkten - Google Patents

Maschine und verfahren zum biegen von rohrförmigen produkten Download PDF

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Publication number
EP3210685B1
EP3210685B1 EP17157704.2A EP17157704A EP3210685B1 EP 3210685 B1 EP3210685 B1 EP 3210685B1 EP 17157704 A EP17157704 A EP 17157704A EP 3210685 B1 EP3210685 B1 EP 3210685B1
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EP
European Patent Office
Prior art keywords
feed
tubular product
axis
bending
cutting
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EP17157704.2A
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English (en)
French (fr)
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EP3210685A1 (de
Inventor
Valdi Toniutti
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SIMAT Srl
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SIMAT Srl
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/022—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment over a stationary forming member only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D9/00—Bending tubes using mandrels or the like
    • B21D9/05—Bending tubes using mandrels or the like co-operating with forming members
    • B21D9/07—Bending tubes using mandrels or the like co-operating with forming members with one or more swinging forming members engaging tube ends only
    • B21D9/073—Bending tubes using mandrels or the like co-operating with forming members with one or more swinging forming members engaging tube ends only with one swinging forming member

Definitions

  • the present invention concerns a machine for bending a tubular product, for example a metal tube for making fluid-dynamic pipes, conduits, plants or other.
  • the machine according to the present invention allows to bend tubular products in an automated manner, to obtain them in an already finished or semi-finished form.
  • the present invention also concerns the method for bending a tubular product.
  • Machines for bending tubular products which comprise devices to feed a tubular product to a bending device.
  • the feed devices feed the tubular product, in the form of a straightened segment or roll, to the bending device after possibly straightening it with suitable straightening devices, for example of the type with rollers.
  • the feed devices are configured to feed the tubular product along a rectilinear axis of feed of the machine.
  • the bending device is installed on a support arm with an oblong development which is in turn installed on a support structure, parallel to the axis of feed of the tubular product.
  • the support arm is also selectively rotatable around an axis of rotation substantially coinciding with the axis of feed of the tubular product.
  • the rotation of the support arm allows to position the bending device on planes that are angularly offset with respect to each other. It is therefore possible to bend the tubular product on angularly offset bending planes, obtaining very articulated configurations of the tubular product.
  • a first solution in which the cutting device is installed downstream of the bending device and cuts the tubular product by removing material, for example with a circular saw.
  • the cutting device can interfere with curved portions of the tubular product.
  • a bending machine is also known, provided with a cutting device equipped with orbital cutting incision blades, that is, which can be moved circumferentially around the tubular product in order to cut it.
  • the cutting blades are installed on a support with a fork conformation.
  • the support In order to cut the tubular product, the support is moved so that the arms of the fork are positioned to partly surround the tubular product to be cut. Subsequently the cutting blades are driven to incise and cut the tubular product in the desired position.
  • a solution is also known that provides to install the cutting device upstream of the support arm and downstream of the feed devices.
  • the cutting device is equipped with incision blades that incise the tubular product circumferentially without effecting a real separation.
  • the incision obtained generates a preferential tearing line of the tubular product along which, by the action of subsequent bending of the bending device, it is possible to separate the finished product from the tubular product being worked.
  • This deformation can cause an oval section of the finished product at least in the end portion, which requires a subsequent finishing operation.
  • shears for cutting tubular products generates in the cutting zone a localized deformation of the tube and an occlusion of the tubular passage cavity.
  • Another purpose of the present invention is to obtain a machine for bending metal products that allows to limit, and even completely eliminate, all working offcuts.
  • Another purpose of the present invention is to obtain a machine for bending metal products that is particularly efficient and allows to obtain, directly in the finished form, a final product that is already curved and cut to size.
  • Another purpose is to perfect a bending method for tubular products that is particularly efficient and versatile.
  • the Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.
  • a machine for bending a tubular product according to the present invention comprises:
  • the machine comprises a cutting device configured to at least partly cut the tubular product, and installed aligned with the axis of feed, upstream of the bending device and in a position comprised along the longitudinal extension of the support arm.
  • the cutting device is of the orbital type and comprises a support body installed aligned with the axis of feed and on which at least one cutting tool is installed.
  • a drive member is associated with the support body, configured to make the at least one cutting tool rotate orbitally around the axis of feed, to perform the cutting of the tubular product.
  • a cutting device of the orbital type allows to carry out the cutting of the tubular product without deforming, that is varying, the sizes and the shape of the internal cavity of the tube. Moreover, the use of a cutting device of the orbital type prevents generating cutting chips which become offcuts.
  • the present invention also concerns a method for bending a tubular product that comprises:
  • the method comprises cutting, at least partly, the bent tubular product with a cutting device installed aligned with the axis of feed, upstream of the bending device and in a position comprised along the longitudinal extension of the support arm.
  • the cutting of the tubular product provides to make at least one cutting tool rotate orbitally around the axis of feed and around the tubular product to perform the cutting of the latter.
  • the tubular product P can be supplied to the machine 10 both in the form of roll or coil, and subsequently straightened, and also in the form of a segment from which the final products are cut.
  • the machine 10 comprises a feed device 11 to feed the tubular product P and a bending device 12 configured to bend the tubular product P according to desired geometries.
  • the feed device 11 is configured to feed a tubular product P along an axis of feed F.
  • the feed device 11 can be configured to feed the tubular product P both toward the bending device 12 and also in the opposite direction.
  • the feed device 11 can comprise at least a pair of drawing rolls 13, between which the tubular product P is made to pass and advance.
  • the feed device 11 can comprise vise elements 14 configured to grip a portion of the tubular product P and to make it advance along the axis of feed F by means of an alternate gripping and releasing motion in a direction parallel to the axis of feed F.
  • the bending device 12 comprises a contrast element 15 and a bending element 16 configured to bend the tubular product P around the contrast element 15.
  • the bending element 16 can be configured to grip the tubular product P on the contrast element 15 and is rotatable around the latter to bend the tubular product P.
  • the bending device 12 can also have different configurations from those described here, for example it can be provided with a plurality of contrast elements 15 and bending elements 16, possibly also made in a single body, and each suitable to define a predefined radius of the final product.
  • the machine 10 comprises a support structure 17 on which a support arm 18 is installed, with an oblong development and disposed with its oblong development parallel to the axis of feed F.
  • the support arm 18 is selectively rotatable with respect to an axis of rotation coinciding with the axis of feed F of the tubular product P.
  • the support arm 18 keeps itself, with its oblong development, substantially parallel to the axis of feed F.
  • the support arm 18 has a first end 19 associated with the support structure 17, and a second end 20, opposite the first end 19, and positioned cantilevered with respect to the support structure 17.
  • the bending device 12 is installed on the support arm 18.
  • the rotation of the support arm 18 around the axis of feed F allows to position the bending device 12 on different planes, reciprocally angled with respect to each other. In this way it is possible to bend the tubular product P on different planes, reciprocally angled with respect to each other.
  • the bending device 12 is installed in correspondence with the second end 20 of the support arm 18.
  • the support arm 18 is installed on a rotation member 21 associated with the support structure 17 and configured to make the support arm 18 rotate around the axis of feed F.
  • the rotation member 21 can comprise a discoid body 22 in correspondence with which the support arm 18 is installed with its first end 19.
  • the discoid body 22 is connected to drive members, not shown in the drawings, suitable to make the discoid body 22 rotate, and also the support arm 18 associated with it, around the axis of feed F.
  • the support arm 18 and the rotation member 21 can comprise radial positioning devices 23 configured to position the support arm 18 radially with respect to the axis of feed F. In this way it is possible to move the support arm 18 closer to/away from the tubular product P being worked, in order to dispose it for example in a position where it does not interfere with the work in progress, or to position the bending device 12 in a suitable position for working the tubular product P.
  • the radial positioning devices 23 can comprise, merely by way of example, guides, racks, drive members.
  • the machine 10 comprises a cutting device 24 configured to at least partly cut the tubular product P.
  • the cutting device 24 is installed upstream of the bending device 12, in a position comprised along the longitudinal extension of the support arm 18 and aligned with the axis of feed F of the tubular product P.
  • position comprised along the longitudinal extension we mean a position of the cutting device 24 between the first end 19 and the second end 20 of the support arm 18.
  • the cutting device 24 comprises a support body 25 installed aligned with the axis of feed F and on which at least one cutting tool 27 is installed, in this specific case two cutting tools 27, configured to at least partly cut the tubular product P.
  • a drive member 28 can be associated with the support body 25, and is configured to make the at least one cutting tool 27 rotate around the axis of feed F. In this way it is possible to define a cutting device 24 of the orbital type.
  • the support body 25 can be provided with a through cavity 26 through which, during use, the tubular product P is made to pass.
  • the through cavity 26 is therefore aligned with the axis of feed F of the tubular product P.
  • the support body 25, or at least part of it, can be selectively movable radially toward/away from the axis of feed F, to control the depth of the cut on the tubular product P.
  • the cutting device 24 can also make only an incision, or a complete cut, on the tubular product P.
  • the cutting tools 27 can comprise cutting blades with a disc conformation.
  • Cutting blades with a disc conformation are advantageous in that they do not cause any offcuts, with their consequent problems of disposal and recovery, and the cut is performed only by the penetration of the blade.
  • the cutting device 24 is installed on a support element 29 attached to the rotation member 21 and configured to support the cutting device 24, keeping it aligned with the axis of feed F.
  • the support element 29 can have an oblong development, and is installed substantially parallel to the axis of feed F.
  • the support element 29 is defined by a tubular body 30 provided with an axial cavity, aligned with the axis of feed F and inside which, during use, the tubular product P is made to pass.
  • the rotation member 21 makes the support arm 18 rotate around the axis of feed F, the cutting device 24 remains always aligned with the latter, and therefore with the tubular product P being worked. This condition ensures that the cutting device 24 does not interfere with portions of the tubular product P that have been bent.
  • the tubular body 30 is attached with a first end to the rotation member 21, while the other end is located cantilevered with respect to the latter and is configured to support the cutting device 24.
  • the cutting device 24 can be connected to movement members 31 configured to move the cutting device 24 parallel to the axis of feed F. In this way it is possible to move the cutting device 24 toward/away from the bending device 12, to define for example the correct position to make the cut on the bent tubular product P, or to take the cutting device 24 to a position where it does not interfere with the bending operations performed.
  • the movement members 31 can be chosen from a group comprising a linear actuator, a rotary actuator, an articulated mechanism, one or more movement guides or a possible combination thereof.
  • a possible solution can provide that the movement members 31 are associated with the cutting device 24 and with the support element 29, for example it can be provided that a ball bearing mechanism can be installed on the support element 29, along which the cutting device 24 is selectively translatable.
  • the machine 10 can comprise at least a gripping device, different from the possible feed device 12 described with reference to figs. 2 and 4 , and configured to grip a longitudinal portion of the tubular product P.
  • the gripping device combined for example with the action of the feed device 11 and/or with another gripping device as described hereafter, generates an axial tension on the tubular product P being worked, parallel to the axis of feed F, such as to detach a tubular portion of the tubular product P if the latter has been incised by the cutting device 24.
  • the machine 10 comprises a first gripping device 32 and a second gripping device 33, disposed upstream and downstream of the cutting device 24 and each configured to grip a respective portion of the tubular product P.
  • At least one of either the first gripping device 32 or the second gripping device 33, in the case shown here the second gripping device 33, can be associated with a translation member 34 configured to move the respective gripping device 32, 33 in a direction parallel to the axis of feed F.
  • the first gripping device 32 and the second gripping device 33 grip respective portions of the tubular product P located upstream and respectively downstream of the pre-incision made.
  • the first gripping device 32, the second gripping device 33 and the translation member 34 By activating the first gripping device 32, the second gripping device 33 and the translation member 34, it is possible to generate a traction on the tubular product P and consequently a separation thereof.
  • the machine 10 can comprise a bending core 35 positionable inside the tubular product P to contrast the action of the bending device 12 from the inside, and to conform as desired the bending of the tubular product P.
  • Holding devices 36 can be associated with the bending core 35, to keep it in a predefined position inside the tubular product P.
  • the holding condition of the holding devices 36 is such that when the feed device 11 feeds the tubular product P to the bending device 12, and the latter is driven, the bending core 35 is kept in a predefined position with respect to the bending device 12.
  • This working condition allows to feed the tubular product P substantially continuously.
  • the holding devices 36 comprise magnetic elements 37, disposed on the perimeter around the tubular product P and in a position coordinated with that of the bending core 35.
  • the magnetic holding action carried out by the magnetic elements 37 allows to keep the bending core 35 in the predefined position for making the bend.
  • the magnetic elements 37 it is therefore possible to dispose the bending core 35 in correspondence with the central zone of magnetic equilibrium, thus remaining in a substantially suspended condition inside the space defined by the magnetic elements 37.
  • the bending core 35 comprises a support element 38 cooperating with the holding devices 36 and provided to hold the bending core 35 in the correct bending position.
  • the holding device 36 can be selectively movable in a direction parallel to the axis of feed F to modify the position of the bending core 35 inside the tubular product P.
  • the machine 10 can be provided with straightening devices 41 configured to straighten the tubular product P and supply it in a straight configuration to the bending device 12.
  • the straightening devices 41 can be positioned upstream of the feed device 11 to supply to the latter the already straightened tubular product P.
  • straightening device 41 can be positioned in any position whatsoever upstream of the bending device 12.
  • the straightening devices 41 can be defined by a plurality of straightening rollers 42, between which the tubular product P is made to pass.
  • the tubular product P is fed along the axis of feed F toward the bending device 12, possibly subjecting it to a straightening action by means of the straightening devices 41.
  • the bending core 35 can be disposed and kept in position inside the tubular cavity of the tubular product P.
  • the bending core 35 is positioned in correspondence with the bending device 12 to control the bending of the tubular product P.
  • the support arm 18 is positioned, with the radial positioning devices 23, so as to dispose the bending device 12 in correspondence with the tubular product P.
  • one or more bending operations are performed on the tubular product P according to one or more radii of curvature depending on the specific bending requirements.
  • the tubular product P is cut by the cutting device 24, to separate the bent product.
  • the cutting device 24 is moved along the axis of feed F to position it in the correct position with respect to the bent product, to perform the cut.
  • the feed device 11 makes the tubular product P retreat or advance, to position the bent product in a correct position with respect to the cutting device 24.
  • the cutting of the tubular product P can be the through type, that is, the cutting device 24 performs a complete separation of the bent product directly, cutting its thickness completely, or it can be a partial cut, that is, making only a pre-incision on the tubular product P which does not completely cut through its thickness.
  • Making only a pre-incision on the tubular product P avoids generating deformations of the cut end which extend toward the inside of the tubular product P, which reduce its diameter and which can require further operations, for example socketing, in order to restore the diameter of the bent product.
  • the separation of the bent product is performed by the bending device 12, which generates the axial tearing tension sufficient to separate it.
  • the tearing action is performed with the last bending operation, which is provided for the bent product to be obtained.
  • the axial tearing tension on the tubular product P is conferred by the combined cooperation of the bending device 12 and the feed device 11.
  • the bending devices 12 can keep it gripped between its components, the cutting device 24 makes the pre-incision, and the feed devices 11 are driven in the opposite direction to the normal feed direction so as to generate, together with the bending devices 12, the tension needed to make the separation.
  • the action of separating the tubular product P is performed by the combined action of the first gripping device 32 and the second gripping device 33 which, when the cut is being performed, or once the pre-incision has been made, grip the tubular product P, and at least one of them, in this specific case the second gripping device 33, is moved axially to generate the tension needed to make the separation.
  • the function of one of either the first gripping device 32 or the second gripping device 33 can be performed by the feed device 11, for example by the vise elements 14, or the drawing rollers 13, allowing to reduce the operating members of the machine 10.
  • a radial distancing of the support arm 18 can be provided, to dispose it in a position where it does not interfere with the operating components in action.
  • the cutting device 24 is disposed in direct proximity, that is, at a distance of less than 150mm, from the bending device 12. In this way it is possible to optimize the process times of the machine 10 and cut the bent product also in direct proximity to the curve just made.

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

Claims (10)

  1. Maschine zum Biegen eines rohrförmigen Produktes (P), umfassend:
    - eine Zuführeinrichtung (11), die dafür ausgelegt ist, um das rohrförmige Produkt (P) entlang einer Zuführachse (F) zuzuführen,
    - einen Stützarm (18) mit einem länglichen Verlauf und, auf einer Stützstruktur (17), parallel zur Zuführachse (F) installiert, wobei der Stützarm (18) im Hinblick auf eine Drehachse drehbar ist, die mit der Zuführachse (F) übereinstimmt, und
    - eine Biegeeinrichtung (12), die stromab der Zuführeinrichtung (11) angeordnet ist, die auf dem Stützarm (18) installiert und dafür eingerichtet ist, um das rohrförmige Produkt (P) zu biegen,
    dadurch gekennzeichnet, dass sie eine Schneideeinrichtung (24) umfasst, die dafür eingerichtet ist, um das rohrförmige Produkt (P) zumindest teilweise zu schneiden, und, zur Zuführachse (F) ausgerichtet, stromauf der Biegeeinrichtung (12) und in einer Position, die entlang des länglichen Verlaufs des Stützarms (18) umfasst ist, installiert ist, dass die Schneideeinrichtung (24) des orbitalen Typs ist und einen Stützkörper (25) umfasst, der zur Zuführachse (F) ausgerichtet installiert ist und auf welchem zumindest ein Schneidewerkzeug (27) installiert ist, und dass ein Triebelement (28) mit dem Stützkörper (25) verbunden ist, welches Triebelement (28) dafür eingerichtet ist, um das zumindest eine Schneidewerkzeug (27) um die Zuführachse (F) drehen zu lassen, um das Schneiden des rohrförmigen Produktes (P) durchzuführen.
  2. Maschine nach Anspruch 1, dadurch gekennzeichnet, dass der Stützarm (18) auf einem Drehteil (21) installiert ist, der mit der Stützstruktur (17) verbunden ist und der dafür eingerichtet ist, um den Stützarm (18) um die Zuführachse (F) drehen zu lassen.
  3. Maschine nach Anspruch 2, dadurch gekennzeichnet, dass die Schneideeinrichtung (24) auf einem Stützelement (29) installiert ist, das an dem Drehteil (21) befestigt ist und das dafür eingerichtet ist, um die Schneideeinrichtung (24) zu stützen, indem diese zur Zuführachse (F) ausgerichtet gehalten wird.
  4. Maschine nach Anspruch 3, dadurch gekennzeichnet, dass das Stützelement (29) von einem rohrförmigen Körper (30) definiert ist, der mit einem axialen Hohlraum versehen ist, der zur Zuführachse (F) ausgerichtet ist und innerhalb dessen das rohrförmige Produkt (P) durchgeleitet wird.
  5. Maschine nach Anspruch 3 oder 4, dadurch gekennzeichnet, dass die Schneideeinrichtung (24) mit Bewegungsteilen (31) verbunden ist, die dafür eingerichtet sind, um die Schneideeinrichtung (24) parallel zur Zuführachse (F) zu bewegen.
  6. Maschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass sie zumindest eine Greifeinrichtung (32, 33) umfasst, die dafür eingerichtet ist, um einen längsverlaufenden Abschnitt des rohrförmigen Produktes (P) zu greifen.
  7. Maschine nach Anspruch 6, dadurch gekennzeichnet, dass sie eine erste Greifeinrichtung (32) und eine zweite Greifeinrichtung (33) umfasst, die stromauf und stromab der Schneideeinrichtung (24) angeordnet und die jeweils dafür eingerichtet sind, um einen jeweiligen Abschnitt des rohrförmigen Produktes (P) zu greifen, und dass zumindest eine von entweder der ersten Greifeinrichtung (32) oder der zweiten Greifeinrichtung (33) mit einem Verschiebungsteil (34) verbunden ist, das dafür eingerichtet ist, um die jeweilige Greifeinrichtung (32, 33) in einer Richtung parallel zur Zuführachse (F) zu bewegen.
  8. Verfahren zum Biegen eines rohrförmigen Produktes (P), welches umfasst:
    - Zuführen eines rohrförmigen Produktes (P) entlang einer Zuführachse (F);
    - Positionieren einer Biegeeinrichtung (12), die mit einem Stützarm (18) mit einem länglichen Verlauf verbunden ist, und, auf einer Stützstruktur (17) installiert, parallel zur Zuführachse (F), wobei das Positionieren zumindest die Drehung des Stützarms (18) um eine Drehachse vorsieht, die mit der Zuführachse (F) übereinstimmt,
    - Biegen des rohrförmigen Produktes (P) mit der Biegeeinrichtung (12),
    dadurch gekennzeichnet, dass es das, zumindest teilweise, Schneiden des gebogenen rohrförmigen Produktes (P) mit einer Schneideeinrichtung (24) umfasst, die zur Zuführachse (F) ausgerichtet, stromauf der Biegeeinrichtung (12) und in einer Position installiert ist, die entlang der länglichen Erstreckung des Stützarms (18) umfasst ist, und dass das Schneiden des rohrförmigen Produktes (P) vorsieht, zumindest ein Schneidewerkzeug (27) orbital um die Zuführachse (F) und um das rohrförmige Produkt (P) drehen zu lassen, um das Schneiden des letztgenannten durchzuführen.
  9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass es das Bewegen der Schneideeinrichtung (24) parallel zur Zuführachse (F) und das Halten derselben ausgerichtet zur letztgenannten umfasst.
  10. Verfahren nach Anspruch 8 und 9, dadurch gekennzeichnet, dass die Schneideeinrichtung (24) einen Vor-Einschnitt des rohrförmigen Produktes (P) durchführt, und dass es vorsieht, eine axiale Spannung zumindest in dem Vor-Einschnittsbereich des rohrförmigen Produktes (P) zu erzeugen, um das gebogene Produkt zu trennen.
EP17157704.2A 2016-02-23 2017-02-23 Maschine und verfahren zum biegen von rohrförmigen produkten Active EP3210685B1 (de)

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ITUB2016A000975A ITUB20160975A1 (it) 2016-02-23 2016-02-23 Macchina e procedimento per la piegatura di un prodotto tubolare

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EP3210685B1 true EP3210685B1 (de) 2018-09-05

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IT202100022250A1 (it) 2021-08-24 2023-02-24 Simat S R L Macchina e procedimento per la piegatura di un prodotto oblungo
CN114309186B (zh) * 2021-11-22 2024-01-02 杭州景业智能科技股份有限公司 不锈钢管弯卷装置

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GB8602147D0 (en) * 1986-01-29 1986-03-05 Benton R E Bending machine
AT393640B (de) * 1989-09-20 1991-11-25 Evg Entwicklung Verwert Ges Vorrichtung zum biegen von stabfoermigem material zu betonbewehrungselementen
IT1396811B1 (it) * 2009-11-18 2012-12-14 Simat S R L Macchina per la piegatura di prodotti tubolari e relativo procedimento di piegatura.

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