EP3225322A2 - Procédé et machine à plier destinés à la fabrication d'un élément à plier courbé multidimensionnel - Google Patents

Procédé et machine à plier destinés à la fabrication d'un élément à plier courbé multidimensionnel Download PDF

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Publication number
EP3225322A2
EP3225322A2 EP17161088.4A EP17161088A EP3225322A2 EP 3225322 A2 EP3225322 A2 EP 3225322A2 EP 17161088 A EP17161088 A EP 17161088A EP 3225322 A2 EP3225322 A2 EP 3225322A2
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EP
European Patent Office
Prior art keywords
workpiece
rotational position
camera system
bending machine
rotation
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
EP17161088.4A
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German (de)
English (en)
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EP3225322A3 (fr
EP3225322B1 (fr
Inventor
Volker Kalkau
Claus Denkinger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wafios AG
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Wafios AG
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Publication date
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Publication of EP3225322A3 publication Critical patent/EP3225322A3/fr
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Publication of EP3225322B1 publication Critical patent/EP3225322B1/fr
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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
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
    • 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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control

Definitions

  • the invention relates to a method for producing a bi- or three-dimensional bent bent part from a cut tubular or rod-shaped workpiece by means of a numerically controlled bending machine according to the preamble of claim 1 and a bending machine suitable for carrying out the method according to the preamble of claim 9.
  • the movements of machine axes of the bending machine are coordinatedly controlled by means of a control device to produce one or more permanent bends on the workpiece by plastic deformation.
  • the workpieces considered here are pipes or rods made of solid material, which are already cut to a predetermined workpiece length prior to insertion into the bending machine and thus pre-assembled.
  • Such workpieces are usually bent by means of so-called tube bending machines, which can usually bend not only pipes, but also workpieces from cut solid material.
  • Such a bending machine has a clamping device for clamping an end section of the workpiece on the face side.
  • the clamping device is rotatable about a rotation axis by means of a rotation unit and can be moved parallel to the axis of rotation by means of a feed unit.
  • a bending head is provided with means for generating at least one planar bend on a workpiece held by the clamping device.
  • a class of workpieces is characterized in that before the first bending operation, the workpiece on the bending machine should be brought into a specific target rotational position with respect to its longitudinal center axis before the first bending operation is performed on the bending machine.
  • the workpiece on the bending machine should be brought into a specific target rotational position with respect to its longitudinal center axis before the first bending operation is performed on the bending machine.
  • the holes in tubular workpieces that are to be converted to single or multiple bent chair legs, usually one or more holes in such sections attached, which are to serve later for attachment of a seat or a backrest.
  • fastening screws or the like can be screwed.
  • the holes are pre-assembled into the workpieces by drilling, laser machining, or otherwise, before the workpieces are placed in the bending machine.
  • the workpiece In order for the holes in the finished bent part in the correct orientation, for example, as perpendicular to the seat, stand, the workpiece must be fed to the bending head with the correct rotational orientation. Thus, there is a desirable target rotational position of the workpiece with respect to its longitudinal center axis before the beginning of the first bending operation.
  • Skilled operators are usually able to align the workpiece relatively well with respect to its rotational position when inserting an end section into the clamping device before the clamping device is closed and the bending process begins.
  • the operator can orient himself on the hole to be aligned correctly or another marking on the peripheral surface of the workpiece.
  • the achievable by an operator accuracies with respect to the rotational position are highly dependent on the experience of the operator and also on the daily form, so that it can come to the production of unusable rejects.
  • the invention has for its object to provide a method and a bending machine for the production of bent two or three-dimensional bent parts, which make it possible to produce rotationally critical workpieces operator independently with high precision.
  • the invention provides a method having the features of claim 1. Furthermore, a bending machine with the features of claim 9 is provided.
  • the method is applicable to all workpieces which have at least one mark on the peripheral surface and can be brought by means of the marking in a desired rotational position with respect to its longitudinal central axis.
  • the mark is a hole in the peripheral surface.
  • the hole may serve, for example, for receiving a fastening screw or the like.
  • an engraving usable as a mark is applied to the workpiece by laser or otherwise on the peripheral surface, such as a manufacturer's logo and / or part identification, e.g. This engraving should always be visible at the finished bent part of bending at the same point of the bent part.
  • the correct target rotational position can be predetermined, for example, so that in the bending process, the area of the weld or the joint is subjected as little as possible by mechanical tensile or compressive forces.
  • Other markings for example in the form of color markings or embossments on the peripheral surface, can serve as aids in the correct rotational alignment of the workpiece within the scope of the claimed invention.
  • the method is characterized by an automatic alignment operation performed by marking on the peripheral surface of the workpiece.
  • the mark is optically detected by a camera system.
  • a rotational position information is determined which contains information about the actual rotational position of the workpiece when taking the measurement image.
  • the rotation unit of the bending machine is controlled in dependence on the determined rotational position information so that the clamped workpiece is rotated by rotation of the clamping device in the desired rotational position when the workpiece is not in the desired rotational position after clamping.
  • the rotation can be omitted if it results from the evaluation of the rotational position information that the workpiece is already with sufficient accuracy in the desired rotational position immediately after clamping into the clamping device.
  • the bending machine has an automatic alignment system for rotating the clamped workpiece in a predetermined target rotational position before the beginning of a first bending operation following the clamping on the bending machine.
  • the alignment system has a camera system for optically detecting a marking on the peripheral surface of the workpiece as well as an evaluation device for determining rotational position information from at least one measurement image of the camera system.
  • the control device of the bending machine is configured to control the rotation unit in an alignment mode in dependence on the determined rotation position information.
  • the automatic alignment operation is thus based on optically and thus contact-free acquired information that can be detected by an already existing mark on the peripheral surface of the workpiece.
  • the automatic alignment operation or automatic alignment system allows the desired target rotational position to be adjusted with high precision prior to the first bending operation so as to virtually preclude production of rejects due to misorientation of the workpiece during initial clamping , Thus, it becomes possible to manually load the machine or otherwise feed the workpieces (e.g., by robot or magazine) without prior alignment of the workpieces to the bending machine.
  • the camera-based automatic alignment operation can be completed within fractions of a second or within a few seconds, so that unproductive non-productive alignment times can be minimized. Thus, both the productivity of the bending process and the quality of the manufactured bent parts can be increased.
  • the automatic alignment system uses a camera system to optically detect marks
  • the automatic alignment system can usually be tuned to different markers without hardware changes.
  • an evaluation software can be provided, which already contains routines for the optimal evaluation of differently designed markings, which can be selectively activated.
  • the workpiece may be a round material, ie a tube or a rod made of solid material with a circular cylindrical cross section.
  • the workpiece may also have a different cross-sectional shape from the circular shape, for example, a polygonal cross-sectional shape, in particular a triangular, square, pentagonal or hexagonal cross-sectional shape.
  • the workpiece is a not yet pre-bent workpiece, in particular a substantially rectilinear workpiece.
  • the first bending operation on the bending machine is also the first bending operation performed on the workpiece.
  • the workpiece may also be an already pre-bent workpiece, which from upstream processing stages (on the same bending machine or another bending machine) already contains one or more permanent bends. Then, the first bending operation on the bending machine following the chucking is not the first bending operation performed on the workpiece.
  • the axial portion of the workpiece containing the mark is immediately after clamping the end portion of the workpiece in the detection range of the camera system that a measurement image can be detected, which contains at least a portion of the mark.
  • the clamping device or the workpiece must first be positioned relative to the camera system so that a measurement becomes possible. For this purpose, a relative movement between the camera system and the workpiece or clamping device is performed.
  • the positioning of a portion of the workpiece containing the marking in the detection area of the camera system preferably takes place exclusively by axial movement and / or rotation of the clamping device in such a way that at least one measurement image can be detected by the camera system and contains at least one evaluable part of the marking.
  • a permanently installed camera system which is realized in preferred embodiments of the bending machine.
  • the tensioning device is initially moved only axially until the section containing the marking lies within the detection range of the camera system. Then a measurement image is taken and evaluated. If this does not contain at least a part of the marking, the clamping device is rotated in a "search" until at least a part of the marking passes into the detection area. In order to keep the "search time" required for this purpose as short as possible, in the absence of a marking in the measurement image, the tensioning device is rotated by a predetermined angle, for example in the range between 45 ° and 90 °, before a next measurement image is taken. If this still does not show part of the marking, the search is further rotated by a predetermined angle until a mark or part of the mark is detected.
  • a signal is sent to the control unit if, after a predefined search, which for example comprises at least one full rotation, at least a part of a marking has not entered the detection area or if only an incorrect or non-evaluable marking passes into the detection area during the search.
  • the signal may be evaluated, for example, in the manner of an error signal, in particular in such a way that the control unit stops the bending machine and / or activates an audible and / or visual display, which indicates to the operator the error condition.
  • the workpiece is preferably rotated by predetermined angular amounts and stopped in the then achieved rotational position so that a measurement image can be taken on the stationary workpiece.
  • the evaluation image is evaluated.
  • the evaluation of the measurement image preferably comprises the determination of an actual rotational position of the workpiece from the position of the marking within the measurement image and an alignment rotational angle by which the workpiece must be rotated to set the desired rotational position. Thereafter, by rotating the workpiece about the alignment rotation angle, the target rotational position of the workpiece is adjusted. Upon completion of this "target rotation", the workpiece is aligned with respect to its rotational position and the first bending operation can be performed.
  • the workpiece is rotated in a single step in the desired rotational position as soon as the mark was detected by the camera system.
  • a particularly fast alignment can be achieved.
  • An iterative approach to the target rotational position is also possible.
  • the camera system is designed or arranged such that the detection area of the camera system contains an axial section of the workpiece with the workpiece edges visible through the camera system.
  • the visible workpiece edges can serve as reference structures for making measurements within a measurement area of the measurement image, thereby improving the precision of the results and allowing highly accurate alignment.
  • the camera system can then calibrate itself, so that a device can be omitted by an expert and an adjustment when changing between different workpiece diameters.
  • the portion of the workpiece which can be detected by the camera system is illuminated by means of a lighting system.
  • a lighting system For example, white light or laser light can be used for illumination.
  • the illumination system has at least one reflected light illumination source that illuminates the portion of interest from sides of the camera system.
  • two or more incident illumination sources may be provided be that illuminate the section in operation from different directions and / or at different angles. As a result, the reliability of the detection of the mark and the accuracy of the image evaluation can be increased.
  • the illumination system has a background illumination source, preferably in addition to at least one epi-illumination source.
  • the background illumination source is ideally located on the side of the workpiece section opposite the camera system and can cause the workpiece edges detected by the camera system to appear particularly rich in contrast. This can also increase the reliability of the measurement.
  • a bending machine 100 for producing two-dimensionally or three-dimensionally bent bent parts from straight, previously cut tubular or rod-shaped workpieces is shown.
  • the bending machine is also referred to as a tube bending machine, but can bend in addition to tubular workpieces and rod-shaped workpieces made of solid material.
  • the bending machine has a lower case letter x, y and z, right-angled machine coordinate system MK with a vertical z-axis and horizontal x- and y-axes.
  • the x-axis extends parallel to the axis of rotation of a clamping device 110 to be explained later.
  • the coordinate axes must be differentiated from the machine axes, which are mentioned later, are driven by uppercase letters (eg A-axis, C-axis). be designated.
  • the bending machine has a clamping device 110 for clamping an end section of a workpiece W to be bent (see FIG. Fig. 2 ).
  • the clamping device is rotatable by means of a (not visible) rotation unit about a horizontal axis of rotation 112 and by means of a likewise not visible feed unit parallel to the axis of rotation 112 movable.
  • the tensioning device is designed as so-called three-jaw tongs. It has an end face a chuck 114, which includes three radially movable to the rotation axis clamping jaws which enclose an insertion opening for insertion of an end portion of the workpiece.
  • An interchangeable stop arranged in the interior limits the insertion depth for the workpiece.
  • a pipe 116 which is coaxial with the axis of rotation 112 is provided, which can be axially displaced parallel to the axis of rotation by means of a pneumatic cylinder.
  • the clamping head 114 By axial displacement of the tube, the clamping head 114 is opened or closed.
  • the rotation unit (A-axis of the bending machine) and the feed unit (C-axis of the bending machine) are carried by the frame of the bending machine and are located within the protective hood 120.
  • the three-jaw forceps is mounted with the rotation unit on the linearly displaceable feed unit. All machine axes are controlled by a non-visible control device of the bending machine.
  • the workpieces are each picked up individually by means of the tensioning device 110 or the three-jaw tongs, held in place and fed to a bending head 130, which is arranged at a distance in front of the tensioning device.
  • the bending head 130 is a compact unit.
  • the bending movements of the bending head are controlled via several CNC axes via the control device. Since the construction of such bending heads is known per se, a detailed description is omitted here. Possible embodiments are in the DE 10 2010 013 688 A1 or the DE 10 2011 006 101 B4 described.
  • the bending machine is equipped with an automatic alignment system, which makes it possible, without intervention of an operator clamped in the clamping device 110 workpiece W before starting a clamping immediately following bending operation on the bending machine to rotate about its longitudinal central axis in a predetermined by programming target rotational position. This is always possible if the workpiece in a spaced-apart from the clamped end portion section A on its peripheral surface a visible mark M has.
  • the bending machine is shown with a clamped workpiece W.
  • the workpiece is a cylindrical steel tube, which is to be bent to a single or multiple curved chair leg using the bending machine.
  • the pre-cut to the desired workpiece length, straight workpiece is inserted by an operator (or automatically) in the insertion of the open clamping head 114 and then closed by moving the pipe 116. Thereby, the workpiece is clamped at one end portion, while the remainder of the workpiece remains free up to the opposite end portion.
  • the longitudinal center axis of the workpiece extends more or less coaxially to the axis of rotation 112 of the clamping device.
  • a seat element or backrest element of a chair is to be screwed to the bent chair leg.
  • a radial through-hole M in a certain section A of the pipe is inserted into the workpiece wall, e.g. introduced by laser cutting.
  • the sharp-edged hole with a diameter in the millimeter range is clearly visible to the naked eye and serves here as marker M, which is used in the camera-based automatic alignment as a tool for rotational orientation.
  • the automatic alignment system includes a camera system 160 having a camera 165 with a two-dimensional image field.
  • the camera 165 is designed as a CCD video camera, which can provide in the example at a resolution of 1024 x 768 pixels (pixels) up to 100 frames per second (frames per second) via an interface to a connected image processing system.
  • the image acquisition of the individual images is triggered in each case via trigger signals (trigger) of the controller. This determines the measurement times.
  • the software for image processing is housed in a program module, which cooperates with the control device of the bending machine and is integrated in this.
  • the camera 165 is attached to a U-shaped support 162 above the line defined by the axis of rotation 112.
  • the optics of the camera are oriented downwards such that a rectangular detection region E of the camera extends in the y direction perpendicular to the axis of rotation over a length that is greater than the diameter of the largest workpiece that can be accommodated in the clamping device.
  • the carrier 162 further supports two infinitely tiltable reflected-light illumination sources 172-1, 172-2 which are aligned so as to align the portion A of the workpiece, which is within the detection range of the camera, from two different directions obliquely from above and obliquely to the camera illuminate the camera's optical axis with white light.
  • To the lighting system further includes a large area rectangular backlight source 175 mounted on the side of the workpiece opposite the camera 165 at the top of the machine frame. This illuminates the clamped workpiece W from its rear side so that the workpiece edges K1, K2 of the workpiece W appear in the recorded measurement image with a strong contrast to the bright background illumination (cf. Fig. 3 ).
  • the rotation unit for rotating the tensioning device 110 about the rotation axis 112 and the feed unit which can push the tensioning device back and forth axially parallel to the rotation axis 112 are used as functional components by the automatic alignment system, e.g. in order to position the workpiece relative to the fixedly mounted camera system such that the section A of interest of the workpiece with the marking M lies within the detection range of the camera 165.
  • a bending process using the bending machine 100 may be as follows. First, an operator grasps a workpiece which has not yet been bent and guides it by hand into the opened clamping device or the clamping head 114 from the front until the inserted end face abuts against an inner stop. The section A with the mark M formed by a hole should lie at the free end region of the workpiece. Then the clamping device is pneumatically closed. Depending on the length of the workpiece to be inserted, the clamping device for this clamping operation can be advanced more or less in the axial direction (parallel to the axis of rotation 112) in the direction of bending head 130, if necessary so far that the clamping head 114 is in the range of the components of the camera system (see. Fig. 1 ). The operator does not have to pay attention to how the inserted workpiece is oriented with respect to its rotational position, so that as a rule the inserted workpiece does not yet assume the required rotational position required for the first bending operation.
  • the automatic alignment operation is initiated either automatically (eg triggered by closing the tensioner) or via a separate operator action. If the marked portion A of the workpiece is not yet in the detection range E of the camera 165, the workpiece is positioned by axial movement of the tensioner in the axial direction (parallel to the rotation axis 112) so that the marked portion A enters the detection range arrives.
  • the travel required for this purpose can be preprogrammed, since in a series of similar parts, the distance between the end face on the clamping section and the axial position of the mark M (for example hole) is known and can be entered in advance.
  • the further procedure depends on whether or not the camera can recognize the marking or at least one evaluable part of the marking after the end of this axial positioning movement.
  • a rotational position information is determined from the measurement image that represents the current actual rotational position of the workpiece.
  • the controller calculates, for example, based on simple angle relationships, a so-called alignment angle of rotation AW, ie a rotation angle by which the workpiece W has to be rotated in order to reach the desired rotational position (cf. Fig. 4 ). If this angle of rotation is within the tolerances, then the alignment operation is completed. For control, an additional final measurement may be made to ensure that the position of the mark is within the allowed tolerances. If we confirm the correct rotational position, the workpiece is advanced by a linear feed movement of the clamping device in the direction of the bending head 130 until the first section to be bent lies in the engagement region of the bending head. Then the first bending operation is carried out.
  • the search quickly leads to a rotational position in which the marking (or an evaluable part of the marking) lies in the detection zone E of the camera system camera. Then, the evaluation and the rotation based thereon of the workpiece in the desired rotational position as described can be initiated. If, even after multiple partial rotation of the workpiece, no measuring image is detected which shows at least one evaluable part of a marking, this indicates that the workpiece contains no marking. In this case, a corresponding signal is emitted.
  • FIG. 3 schematically shows the rectangular detection area E of the camera system in which the axial section A of the workpiece W appears, containing the mark M.
  • the marking M is formed here by a circular radial through hole in the tube. Is the tube turned so that the hole is not at the camera is visible in the search, the correction rotation described above takes place until the mark is partially or completely in the detection range of the camera. As a rule, the correction rotation will not cause the correction rotation to transfer the workpiece directly to the target rotational position. Rather, in the example case then the situation I is reached, in which the perspective distorted appearing hole (marker M) appears in the vicinity of the edge K2.
  • a distance measure is determined from the distance D between the geometrical center of gravity S of the hole and the edge K2 calculated by image processing, which distance is converted into the corresponding actual rotational position via known angular relationships.
  • the desired target rotational position is achieved in the example case when the marking is located exactly on the camera facing top of the workpiece centrally between the side edges K1, K2, ie in the dashed position II.
  • the image processing system calculates the associated alignment angle of rotation AW, the is required to bring the workpiece in the desired rotational position (see. Fig. 4 ). Based on this rotational position information, the rotational drive is controlled by means of the control unit in such a way that the workpiece is rotated about the alignment rotational angle AW.
  • the automatic alignment operation is completed and a release signal for initiating the next machine operation is issued, which consists in advancing the aligned workpiece in the direction of the bending head.
EP17161088.4A 2016-03-29 2017-03-15 Procédé et machine à plier destinés à la fabrication d'un élément à plier courbé multidimensionnel Active EP3225322B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016205137.7A DE102016205137B4 (de) 2016-03-29 2016-03-29 Verfahren und Biegemaschine zur Herstellung eines mehrdimensional gebogenen Biegeteils

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EP3225322A2 true EP3225322A2 (fr) 2017-10-04
EP3225322A3 EP3225322A3 (fr) 2017-10-18
EP3225322B1 EP3225322B1 (fr) 2020-05-13

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WO2018202612A1 (fr) * 2017-05-05 2018-11-08 Wafios Aktiengesellschaft Procédé de fabrication d'une pièce pliée et machine de pliage pour la mise en œuvre du procédé
IT201800007479A1 (it) * 2018-07-24 2020-01-24 Metodo e apparecchiatura per alimentare elementi metallici di foggia allungata
EP3620242A1 (fr) * 2018-09-05 2020-03-11 BLM S.p.A. Machine d'usinage de tubes dotée d'un capteur optique pour mesurer le déplacement avant du tube usiné et/ou son déplacement rotatif autour de l'axe longitudinal correspondant
CN112601621A (zh) * 2018-08-28 2021-04-02 特鲁普机械奥地利有限公司及两合公司 用于操作折弯机的方法
CN112916678A (zh) * 2021-01-21 2021-06-08 青岛沃明钢管有限公司 一种钢管折弯机
CN114453467A (zh) * 2021-12-28 2022-05-10 株洲兆源机电科技有限公司 一种适应于扁形导条的开环式涨型机

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DE102020203394A1 (de) 2020-03-17 2021-09-23 Wafios Aktiengesellschaft Verfahren zur Herstellung eines Biegeteils aus einem Rohr

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Cited By (10)

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Publication number Priority date Publication date Assignee Title
WO2018202612A1 (fr) * 2017-05-05 2018-11-08 Wafios Aktiengesellschaft Procédé de fabrication d'une pièce pliée et machine de pliage pour la mise en œuvre du procédé
IT201800007479A1 (it) * 2018-07-24 2020-01-24 Metodo e apparecchiatura per alimentare elementi metallici di foggia allungata
WO2020021582A1 (fr) * 2018-07-24 2020-01-30 Schnell S.P.A. Procédé et appareil d'alimentation en éléments métalliques allongés
CN112601621A (zh) * 2018-08-28 2021-04-02 特鲁普机械奥地利有限公司及两合公司 用于操作折弯机的方法
EP3620242A1 (fr) * 2018-09-05 2020-03-11 BLM S.p.A. Machine d'usinage de tubes dotée d'un capteur optique pour mesurer le déplacement avant du tube usiné et/ou son déplacement rotatif autour de l'axe longitudinal correspondant
EP3620242B1 (fr) 2018-09-05 2021-04-28 BLM S.p.A. Machine de travail de tubes dotée d'un capteur optique permettant de mesurer le déplacement longitudinal du tube à travailler et / ou le déplacement rotatif de celui-ci autour de son axis longitudinal
CN112916678A (zh) * 2021-01-21 2021-06-08 青岛沃明钢管有限公司 一种钢管折弯机
CN112916678B (zh) * 2021-01-21 2022-08-19 青岛沃明汽车管制造有限公司 一种钢管折弯机
CN114453467A (zh) * 2021-12-28 2022-05-10 株洲兆源机电科技有限公司 一种适应于扁形导条的开环式涨型机
CN114453467B (zh) * 2021-12-28 2024-01-02 株洲兆源机电科技有限公司 一种适应于扁形导条的开环式涨型机

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DE102016205137B4 (de) 2017-12-14
EP3225322A3 (fr) 2017-10-18
EP3225322B1 (fr) 2020-05-13

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