EP3720641A1 - Procédé de fabrication d'un cadre tubulaire - Google Patents

Procédé de fabrication d'un cadre tubulaire

Info

Publication number
EP3720641A1
EP3720641A1 EP18826929.4A EP18826929A EP3720641A1 EP 3720641 A1 EP3720641 A1 EP 3720641A1 EP 18826929 A EP18826929 A EP 18826929A EP 3720641 A1 EP3720641 A1 EP 3720641A1
Authority
EP
European Patent Office
Prior art keywords
tube
tolerance
tubes
actual
contour
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.)
Withdrawn
Application number
EP18826929.4A
Other languages
German (de)
English (en)
Inventor
Sebastian Steinbach
Torsten Scheller
Markus Remm
Torsten Reichl
Jan Langebach
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.)
Jenoptik Automatisierungstechnik GmbH
Original Assignee
Jenoptik Automatisierungstechnik GmbH
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 Jenoptik Automatisierungstechnik GmbH filed Critical Jenoptik Automatisierungstechnik GmbH
Publication of EP3720641A1 publication Critical patent/EP3720641A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B23K26/044—Seam tracking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/24—Frameworks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/083—Devices involving movement of the workpiece in at least one axial direction
    • B23K26/0853—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane
    • B23K26/0861—Devices involving movement of the workpiece in at least in two axial directions, e.g. in a plane in at least in three axial directions

Definitions

  • Tubular frames represent a metal construction of a plurality of individual tubes which are interconnected e.g. be connected by welded joints. Tube frames are distinguished by a more favorable mass-to-strength ratio compared to solid profile frames with the same tensile strength, and are therefore particularly applicable where load-bearing structures with low weight are required.
  • the tubes For a desired construction, the tubes must be welded together in a predetermined relative position. This creates connections at interfaces, which are each formed by two existing on the pipes joining surfaces. As a rule, the two joining surfaces each represent a sectional contour produced therefor on one of the tubes and a fitted lateral surface of another of the tubes or a further cut contour made on another of the tubes.
  • a cutting contour can be produced by cutting or cutting off a tube.
  • a disadvantage in the production of a tubular frame from partially curved tubes with a circular cross-section is the production-related large fluctuation of the bending radius for the same tubes, which causes the individual tubes have a relatively low dimensional stability of the course of their tube axes.
  • reference holes are introduced into the tube, via which the tube is received in a workpiece holder for positioning the tube to the cutting tool.
  • the tube is held with a predetermined relative position of the reference holes to the workpiece holder.
  • the cutting contours along which the pipe is cut determined in their spatial position relative to the position of the reference holes, regardless of a possible tolerance deviation of the pipe bend of the pipe to a target value.
  • the position of the reference holes is selected so that a tube which can be plugged into the receptacle is also within a predetermined tolerance range for the tube bend. This also determines whether the pipe is in or out of tolerance via the slip-on criterion. Due to the geometrical tolerances of the tubes a defined automated recording by a gripper and a plugging over the reference holes in the workpiece holder is not possible.
  • the tube is inserted into a workpiece holder, in which the tube comes into contact within a contact area.
  • the pipes must be manually inserted due to their geometric tolerances. Tubes that can not be inserted to a predetermined extent, deviate with their bending radius so far from a target value that the pipe bend is no longer within a predetermined bending tolerance.
  • the disadvantage here on the one hand, that due to the rigid position of the tube in the workpiece holder, the tube is limited to a cutting tool, such as a laser beam, accessible. From the workpiece holder on the pipe covered areas are accessible only by a folding of the tube in another workpiece holder for processing. This leads to an increased time and device overhead. On the other hand, out of tolerance form deviations of the tube outside the contact area of the recording are not detected, which is why optionally cut a cut contour out of tolerance on a pipe and the defective pipe is fed unnoticed further processing.
  • This object is fulfilled for a method for producing a tubular frame consisting of a multiplicity of tubes, which are welded to one another at a plurality of actual interfaces in each case via two joining surfaces. At least one of the two joining surfaces represents an actual sectional contour, along which one of the two pipes to be welded in each case has been cut or cut off prior to welding with a laser beam.
  • a tolerance envelope is calculated for the individual tubes and stored with reference to a coordinate system related to a delivery device.
  • a nominal sectional contour pattern with nominal sectional contours, which are each assigned to one of the actual sectional contours, is defined and the nominal sectional contours are stored relative to the tolerance envelopes of the individual tubes.
  • one of the tubes is received by the feed device with a gripping arm and transported relative to an optical measuring device, which occupies a known spatial position in the coordinate system, where the tube is optically detected and measured.
  • the gripper arm moves the tube in space until the tube is within the tolerance envelope calculated for that tube.
  • the feed device adjusts the tube of a laser cutting device so that the tolerance envelope calculated for the tube assumes a predetermined relative position to the laser cutting device, with which the tube has assumed a spatial position defined by a spatial position of the tolerance envelope relative to the laser cutting device.
  • the laser beam of the laser cutting device describes the desired cutting contour, which is related to the tolerance sheath, wherein the actual cutting contour is cut on the pipe.
  • the actual sectional contour corresponds to a projection of the desired sectional contour onto the tube.
  • the actual sectional contour has either the shape of a cutout surface or an end face.
  • the actual sectional contour in the form of a cutout surface in a jacket of one of the tubes corresponds to the tubes inserted into the same tolerance envelope with different tolerance deviations of a differently modified mapping of the nominal sectional contour, so that the other of the tubes welded to this actual sectional contour, irrespective of the position the inserted tube in the tolerance shell occupies a same relative position to the tolerance shell of the inserted tube.
  • the actual sectional contour in the form of an end face of one of the tubes assumes a different angle with a tube axis of the tube for the tubes inserted with different tolerance deviations in the same tolerance envelope, so that the other of the tubes welded to this actual sectional contour, regardless of the position of the inserted Pipe in the tolerance shell occupies a same relative position to the tolerance shell of the inserted tube.
  • the tube of the laser cutting device is not delivered when the tube is not available in the tolerance sheath, which is a criterion that the tube is out of tolerance.
  • each actual interface is defined by the position of a real sectional contour (hereinafter actual sectional contour), which results from cutting or cutting one of the tubes.
  • actual sectional contour in the form of a cutout surface on the jacket of the tube or an end face at the end of the tube, is in each case joined to the lateral surface or a cut end face of another of the tubes and welded.
  • the laser beam is not guided relative to the respective real pipe, but the laser beam is guided along the desired cutting contour, which is related to the tolerance envelope calculated for the relevant pipe.
  • the desired cutting contour is preferably within the tolerance envelope, preferably centrally between the positions of two maximum deviating actual Cut contours on the inserted into the tolerance sheath pipes.
  • the actual cutting contour is produced as a projection of the desired cutting contour onto the real pipe.
  • the target sectional contour is reduced, enlarged or otherwise modified projected onto the jacket of the tube.
  • the projection takes place in such a way that the other tube applied to the resulting actual cut contour with its lateral surface always has the same relative position to the tolerance casing of the cut tube relative to the tolerance casing, completely independent of how the cut tube lies in the tolerance casing.
  • the positional tolerance of lying in the tolerance sheath pipes is not in a tolerance chain.
  • the individual tolerance envelope is calculated, which determines the shape tolerance of the respective tube and is stored together with the respective nominal tolerances assigned to the tolerance interface, a desired interface pattern, based on a spatially fixed coordinate system.
  • the tube then taken for processing is delivered to a 3-D camera.
  • the tube is measured three-dimensionally and by moving the gripper arm holding the tube, the tube is inserted into the calculated tolerance sheath. If insertion is not possible, the pipe is out of tolerance.
  • the tolerance envelope may also encase only one or more individual sections of the tube.
  • the tube has a knowledge of the location of the tolerance envelope in space a known spatial position and is relatively delivered with this accuracy of the laser cutting device. This means that the real pipes do not take up a reproducible spatial position relative to the laser cutting device and thus to the laser beam guided through the cutting nozzle. However, a reproducible spatial position is taken up by the tolerance envelope.
  • 1 a a tube frame with four tubes in exploded view
  • 1 b a representation of the assembled tube frame according to FIG. 1 a
  • FIGS. 1 a and 1 b shows a desired interface pattern for the tubular frame according to FIGS. 1 a and 1 b relative to a coordinate system
  • FIG. 2 shows the tube frame according to FIG. 1 in an exploded view with tolerance sleeves for the tubes
  • Fig. 3a an ideal tube ideally lying in the tolerance envelope
  • Fig. 4a shows the relative position of a tube, which with its lateral surface on the
  • Fig. 5 is a schematic diagram of a device suitable for the implementation of
  • FIG. 1 a shows a tube frame in an exploded view by way of example, which consists of tubes R, here four tubes Ri-R 4 , which are welded together at actual interfaces SIST, here specifically five actual interfaces SISTI-SISTS.
  • the actual interfaces SIST I - SIST S are formed in each case by welding-compatible joining surfaces V at the two respective tubes R forming a welding partner.
  • Fig. 1 b these four pipes Ri - R 4 are shown welded together as intended.
  • Fig. 1c A target interface pattern with nominal interfaces SSOLL for the tubular frame is shown. Each of the target interfaces SSOLL is assigned to one of the actual interfaces SIST.
  • the first interface type results in a pairing of two tubes R over two end faces.
  • An example of this is shown in FIG. 1a-1b on the basis of the actual interface SISTI, in which an end face of the tube R3, as the joining face VR 3 -I, is welded to an end face of the tube Ri, as the joining face V R11 .
  • the second interface type results in a pairing of two tubes R over a cut-out surface and a lateral surface.
  • An example of this is shown in FIGS. 1a-1b on the basis of the actual interface SIST 2 , in which a cut-out surface of the tube Ri, as the joining surface V R12 , is welded to the lateral surface of the tube R 2 , as the joining surface V R22 ,
  • the third interface type results in a pairing of two tubes R over an end face and a lateral surface.
  • An example of this is shown in FIG. 1 on the basis of the actual interface SIST 3 , in which an end face of the tube R 4 , as the joining surface V R42 , is to be welded to the lateral surface of the tube R 3 , as the joining surface V R33 .
  • Each of the interface types has the at least one joining surface V, which represents a nominal sectional contour "SOLL.
  • its desired position is determined based neither on the ideal tube R nor on the real tube R, but on a calculated tolerance envelope H.
  • This tolerance envelope H encloses the ideal tube R. Likewise, it surrounds the real tube R whose outside dimensions are in tolerance.
  • the tolerance envelope H can also be defined only for individual sections of individual tubes R.
  • the possible shape deviation essentially relates to the deviation of the course of the actual tube axis of a target tube axis due to the deviation of actual bending radii of target bending radii on the tube R and a possible twisting of the actual tube axis in the bending areas.
  • Each actual interface SIST is assigned to the tolerance envelope H reference interface SSOLL, see Fig. 1 b in combination with Fig. 1c assigned.
  • the desired interfaces SSOLL are stored in a fixed position relative to one another in a desired interface pattern. This means that the relative spatial position of the desired sectional contours K S OLL are stored relative to each other for the joining surfaces V to be produced by cuts.
  • the tolerance sheaths Fl are each calculated so that the actual sectional contours K ! S T SO can be cut on each tube R which fits into the tolerance sheath F, so that the suitable joining surface V for the welding results.
  • the ideal pipe R is ideally shown lying in the tolerance envelope Fl.
  • the tube axes of the ideal tube R and the tolerance envelope Fl coincide.
  • the desired cutting contours KSOLL are calculated so that they coincide in this case with the actual cutting contours KIST. This would no longer be the case if the ideal tube R were tilted in the tolerance envelope Fl.
  • FIGS. 3b and 3c two tubes Ri are shown, which each fit into the tolerance envelope FI 1 and deviate differently from the shape of an ideal tube Ri.
  • the nominal sectional contours K -i SOLL, KRI2SOLL, KRI3SOLL have, relative to the tolerance envelope Fl-i , an equal relative position relative to each other, however, the actual cutting contours K R11
  • a cut-out surface as the joining surface V Ri2 for the actual interface S 2 IST extends more or less deeply into the tube R 1 .
  • An end surface as the joining surface V R11 for the actual interface SUST is cut at different points along the tube axis of the tube R and at a different angle to it.
  • the tube R 3, in which a face and a cut surface are the same as the tube R 1, are to be finished as joining surfaces V R31 and V R2i for the actual interfaces S-HST and S 5 IST, respectively, and are processed analogously to the tube Ri.
  • the tube R 4 On the tube R 4 , only one end face is cut as the joining face V R42 for the actual interface S 3 IST.
  • the tolerance to the second actual interface S 4 IST is compensated, in which the tube R 4 is welded to a mitwandernden area of its lateral surface on a joining surface V Ri3 , which is a cut surface.
  • the pipe R 2 has no actual cutting contours K ! S T.
  • His joining surfaces V R21 , V R22 are areas on lateral surfaces whose relative position to each other in the Fier ein of the tube R is formed. This means, in contrast to the joining surfaces V, which arise differently due to the different position of the tube R in the tolerance sleeve F1 due to the cutting of actual sectional contours K ! S T on the tubes R, whereby the tolerances can be compensated Tolerance deviation be accepted. Accordingly, either the tolerance envelope F1 must be kept sufficiently narrow at least in the region of the connection points V R21 and V R22 , or the tube R is designed so that it is delivered to the joining surfaces V of the other tubes R by a positional adaptation.
  • the u-shaped tube R should be designed so that its two legs do not run parallel to each other, but enclose a small angle with each other, so that a positional adjustment on the displacement in the direction of the legs is possible.
  • FIG. 4b to 4d is shown once more simplified on a straight pipe R, as a target - sectional contour K S OLL relative to a tolerance envelope Fl is projected onto each lying in the tolerance envelope Fl pipes R.
  • Actual sectional contours KIST projected onto the jacket of the respective tube R are modified relative to the desired sectional contour KSOLL by a layer, size and / or Change in shape, depending on the spatial position in which the jacket of the respective pipe R is located relative to the desired sectional contour K S OLL.
  • the other of the tubes R which in each case is welded to the at least one actual sectional contours K
  • FIG. 5 shows a schematic diagram of a device suitable for carrying out the method.
  • the device comprises a feed surface 1, a feed device 2 with a gripping arm 2.1, an optical measuring device 3, e.g. a 3-D camera, a laser cutting device 4, with a cutting nozzle 4.1, a storage and control unit 6 and advantageously a further optical measuring device 5.
  • an optical measuring device 3 e.g. a 3-D camera
  • a laser cutting device 4 with a cutting nozzle 4.1
  • storage and control unit 6 advantageously a further optical measuring device 5.
  • the gripping arm 2.1 can be tracked in case of position deviations from a desired position, which may also be due to a shape deviation of the tube R, to optimally grip the tube R.
  • the tubes R are respectively received by the feed arm 2 of the feed device 2 by a feed surface 1.
  • the tubes R are pre-sorted, prepositioned and preoriented on the feed surface 1, so that the gripping arm 2.1 when starting a predetermined gripping position in each case the tube R, to the gripping arm 2.1 pre-aligned, picks up.
  • the tubes R are pre-sorted, prepositioned and preoriented on the feed surface 1, so that the gripping arm 2.1 when starting a predetermined gripping position in each case the tube R, to the gripping arm 2.1 pre-aligned, picks up.
  • the gripper arm 2.1 is preferably a multi-axis gripper arm 2.1, which can freely move a gripped workpiece, in this case the tube R, within a limited operating range.
  • a gripped workpiece in this case the tube R
  • Within the working area is the feed surface 1, the optical measuring device 3 and the laser cutting device 4, each having a known spatial position within the coordinate system.
  • the tube R is transported to the optical measuring device 3, where the tube R is optically detected and measured. Subsequently, the tube R is inserted by the gripper arm 2.1 in a tolerance envelope H, which is confirmed that the tube R is in tolerance.
  • the spatial position of the tube R within a coordinate system defined by the feed device 2 is thus determined by the spatial position of the tolerance envelope H in the coordinate system.
  • the gripping arm 2.1 adjusts the tube R of the laser cutting device 4 in such a way that the tolerance envelope H is in a predetermined relative position to the laser cutting device 4.
  • the laser cutting device 4 then cuts the actual sectional contours K ! S T on the tube R, wherein the laser beam is guided through the cutting nozzle 4.1 along a desired cutting profile K S OLL related to the tolerance envelope H.
  • the method is possible with a laser beam, because the execution of the cut does not require the mechanical contact between a cutting tool and a workpiece and thus a defined position of the working surface, as in the case of a mechanical machining.
  • the processing surface can occupy a different spatial position at least within the focus area.
  • the method according to the invention makes it possible to produce the actual sectional contours K ! S T on the only roughly tolerated tubes R, to which other tubes R can be added and welded, wherein the coarse tolerance of the tubes R is achieved by modifying the actual sectional contours KIST not or only slightly into the tolerance chain for complete welding of the tubes R flow into a tube frame. It also allows the automated recording of only pre-oriented tubes R by the gripper arm 2.1 and their delivery to the laser cutting device. 4

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

Le procédé selon l'invention permet de fabriquer des contours de coupe réels sur des tubes (R) seulement grossièrement tolérés, auxquels d'autres tubes (R) peuvent être ajoutés et soudés, au moyen d'une modification des contours de coupe réels, la tolérance de forme grossière des tubes (R) n'étant pas inclue, ou seulement dans une faible mesure, dans la chaîne de tolérance pour souder complètement les tubes (R) à un cadre tubulaire. Ledit procédé permet également la réception automatisée seulement de tubes (R) préorientés à l'aide d'un bras de préhension et leur acheminement vers un dispositif de coupe laser.
EP18826929.4A 2017-12-07 2018-12-05 Procédé de fabrication d'un cadre tubulaire Withdrawn EP3720641A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017129106.7A DE102017129106B4 (de) 2017-12-07 2017-12-07 Verfahren zur Herstellung eines Rohrrahmens
PCT/DE2018/100990 WO2019110053A1 (fr) 2017-12-07 2018-12-05 Procédé de fabrication d'un cadre tubulaire

Publications (1)

Publication Number Publication Date
EP3720641A1 true EP3720641A1 (fr) 2020-10-14

Family

ID=64901257

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18826929.4A Withdrawn EP3720641A1 (fr) 2017-12-07 2018-12-05 Procédé de fabrication d'un cadre tubulaire

Country Status (7)

Country Link
US (1) US20210178524A1 (fr)
EP (1) EP3720641A1 (fr)
JP (1) JP7281465B2 (fr)
CN (1) CN111526963B (fr)
CA (1) CA3084684A1 (fr)
DE (1) DE102017129106B4 (fr)
WO (1) WO2019110053A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114850691A (zh) * 2022-04-12 2022-08-05 西安航天发动机有限公司 一种定制化导管余量自动去除工艺方法

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1548918A (en) 1975-03-14 1979-07-18 Oceanic Contractors Ltd Apparatus for and a method of shaping tubes
JPS61159291A (ja) * 1984-12-29 1986-07-18 Miyata Kogyo Kk レ−ザ−ビ−ムによる管状物の切断方法
EP0672496A3 (fr) * 1990-09-17 1997-10-29 Hitachi Ltd Système d'usinage par laser.
JPH05337667A (ja) * 1992-06-08 1993-12-21 Mitsubishi Electric Corp ３次元レーザ加工機用ｎｃプログラムの作成方法
JP3040372B2 (ja) 1998-03-10 2000-05-15 ファナック株式会社 加工ツール付ロボット及び加工方法
CA2365294C (fr) * 2001-11-16 2006-07-11 Kyong H. Nam Installation de manutention des tubes pour traitements laser et autres
US6664499B1 (en) 2002-07-11 2003-12-16 The Boeing Company Tube and duct trim machine
FR2911807B1 (fr) * 2007-01-29 2009-08-28 Lectra Sa Sa Procede de decoupe de pieces predefinies dans une matiere en plusieurs couches avec controle automatique des dimensions des pieces
DE102007046142A1 (de) * 2007-09-27 2009-04-02 Deere & Company, Moline Vorrichtung und Verfahren zum Laser-Schneiden
DE102012200458A1 (de) * 2011-01-19 2012-07-19 SCHWEIßTECHNISCHE LEHR- UND VERSUCHSANSTALT HALLE GMBH Schienenführung für mobile Schweiß- oder Schneidgeräte und Verfahren zu ihrer Herstellung
DE202011051161U1 (de) 2011-08-31 2012-12-19 Conntronic Prozess- Und Automatisierungstechnik Gmbh Schneideinrichtung
JP5626911B2 (ja) * 2011-11-30 2014-11-19 トリニティ工業株式会社 車両内装部品用のレーザー加飾装置及び方法
CN103406710B (zh) * 2013-09-06 2015-03-04 佛山市中惠自动化设备有限公司 圆管端头多线段相贯线切割装置

Also Published As

Publication number Publication date
DE102017129106A1 (de) 2019-06-13
JP7281465B2 (ja) 2023-05-25
CN111526963A (zh) 2020-08-11
US20210178524A1 (en) 2021-06-17
DE102017129106B4 (de) 2023-12-07
JP2021505398A (ja) 2021-02-18
WO2019110053A1 (fr) 2019-06-13
CA3084684A1 (fr) 2019-06-13
CN111526963B (zh) 2021-10-29

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