EP3927482A1 - Engin combiné pour le cintrage par mandrin et le cintrage sur presse d'une pièce - Google Patents

Engin combiné pour le cintrage par mandrin et le cintrage sur presse d'une pièce

Info

Publication number
EP3927482A1
EP3927482A1 EP20707038.4A EP20707038A EP3927482A1 EP 3927482 A1 EP3927482 A1 EP 3927482A1 EP 20707038 A EP20707038 A EP 20707038A EP 3927482 A1 EP3927482 A1 EP 3927482A1
Authority
EP
European Patent Office
Prior art keywords
bending
tool holder
tool
designed
machine
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.)
Pending
Application number
EP20707038.4A
Other languages
German (de)
English (en)
Inventor
Ralf Beger
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.)
Blech Tec GmbH
Original Assignee
Blech Tec 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 Blech Tec GmbH filed Critical Blech Tec GmbH
Publication of EP3927482A1 publication Critical patent/EP3927482A1/fr
Pending legal-status Critical Current

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
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • 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
    • B21D5/0209—Tools therefor
    • B21D5/0236—Tool clamping
    • 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
    • B21D21/00—Combined processes according to methods covered by groups B21D1/00 - B21D19/00
    • 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
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program 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
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
    • 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
    • B21D5/04—Bending sheet metal along straight lines, e.g. to form simple curves on brakes making use of clamping means on one side of the work
    • B21D5/042—With a rotational movement of the bending blade

Definitions

  • the invention relates to a combination machine for swivel and die bending a
  • the invention also relates to the use of a folding machine as a press brake.
  • Swivel bending machines or known from die bending machines. There are generally two different types of bending available to a user. On the one hand there is bending with a rotating tool movement, so-called swivel bending, and on the other hand there is bending with a straight movement
  • Bending machines for swivel bending are usually used for bending sheet metal.
  • the sheet metal is clamped between a lower beam and an upper beam that can be moved onto the lower beam and bent to the desired angle by a bending beam that swings upwards.
  • a bending beam that swings upwards.
  • die bending machines including die brakes, press brakes or Kantbank
  • the forming of the material takes place by a vertically guided from above Bending punch which is arranged on a movable press beam.
  • the workpiece lies on a stationary die (also die or bending die) arranged underneath, with an opening, for example, V-shaped, into which the bending punch is inserted during the bending process.
  • a stationary die also die or bending die
  • the sheet metal is pressed into the die and, depending on the depth of the bending punch, can assume the shape of the die.
  • the sheet metal thus bends at the desired angle, depending on the depth of the punch and the shape of the tool.
  • free bending also air bending, air bending, partial bending or bending on the base
  • embossing are basically two processing variants.
  • free bending also air bending, air bending, partial bending or bending on the base
  • the material can essentially be pressed onto the base of the die (folding onto the base), but without the material being embossed.
  • the material is pressed into the die with a relatively low pressure (low bending or pressing force).
  • the bending punch presses the sheet metal essentially completely to the base of the die, the material being (plastically) deformed ("embossed") under high pressure (high bending or pressing force) between the bending punch and the die.
  • the pressure required here is significantly higher than with free bending on the ground, for example about 2 to 7 times higher than with free bending on the ground
  • Swivel bending machine In the case of die bending machines, the bending angle is only generated by the tools (punch and die). So far, in the development of sheet metal parts, such as springs, contacts or housing parts, individual machines in the form of swivel bending machines or die bending machines are used. Depending on the workpiece, there are one or more
  • Swivel bending processes or one or more die bending processes are necessary to obtain a finished sheet metal part.
  • the limited possibilities of the respective bending process often have to be taken into account.
  • the design of the workpiece thus determines the respective bending process, whether
  • a combination machine for swivel and die bending of a workpiece, in particular sheet metal.
  • the combination machine comprises a lower tool holder which is designed to detachably accommodate at least one lower bending tool; an upper tool holder which is designed to detachably receive at least one upper bending tool and which can be fed in a straight line in an infeed direction onto the lower tool holder; a pivotable tool holder which is designed to hold at least one to be pivoted
  • the bending tool can be detachably received, and the pivot axis relative to the lower one running perpendicular to the feed direction of the upper tool holder
  • Tool holder is pivotable; and a machine body on which the upper tool holder is arranged, wherein the machine body is designed to move in the feed direction of the upper tool holder and during a
  • a core idea of the invention is to transfer the significant forces occurring during swivel bending and die bending in different directions to a compact machine body (e.g. existing within the combination machine) and optimally designed for power absorption in order to achieve the necessary flexural rigidity of the combination machine and optimal force absorption to ensure both during a die bending process and during a swivel bending process.
  • a compact machine body e.g. existing within the combination machine
  • optimally designed for power absorption in order to achieve the necessary flexural rigidity of the combination machine and optimal force absorption to ensure both during a die bending process and during a swivel bending process.
  • the two bending processes swivel bending and die bending
  • the optimal power transmission and power absorption also ensures a high quality of the finished workpiece.
  • the feed direction of the upper tool holder is in the vertical direction. Additionally or alternatively, the delivery direction can be perpendicular to a
  • the workpiece support plane can be defined by the lower bending tool.
  • the upper tool holder or the upper one Bending tool facing bearing surface of the lower bending tool the
  • Swivel bending operation or die bending operation occurs.
  • This bending force can change or remain constant depending on the progress of the respective bending process.
  • the bending force can be a swivel bending force, pressing force or embossing force which occurs or is generated during a swivel bending process or a die bending process.
  • a bending force can be understood as a force that occurs as a result of the movement of the upper tool holder and / or the pivotable tool holder.
  • the force can also be a holding force that occurs when a workpiece is clamped between an upper bending tool and a lower bending tool.
  • the machine body can be designed to absorb the bending and / or pressing forces occurring during a swivel bending process and the bending and / or pressing forces occurring during a die bending process.
  • the machine body can also be designed to absorb the bending and / or pressing forces over the entire swivel bending process or die bending process.
  • the machine body can be designed to apply forces (e.g. bending and / or pressing forces) essentially parallel to the infeed direction of the upper tool holder and / or forces (e.g. bending and / or pressing forces) essentially transversely / obliquely to the
  • the combination machine can have a first drive device that can be coupled or coupled to the upper tool holder for the transmission of a force (e.g. bending force, pressing force, stamping force, holding force, clamping force), the upper tool holder being designed to provide an im
  • a force e.g. bending force, pressing force, stamping force, holding force, clamping force
  • Essentially vertical force e.g. bending force, pressing force, stamping force, holding force
  • the upper tool holder can therefore exert a force in a substantially perpendicular and / or vertical direction on the
  • the direction of the force can essentially always remain the same during the bending process.
  • the strength of the force can, however, depend on the bending progress or on the travel path and / or on the penetration depth of a bending punch.
  • the first drive device can raise and lower the upper
  • Tool holder at least one electric motor (e.g. a servo or
  • Stepper motor a pneumatic unit and / or a hydraulic unit.
  • Pneumatic unit can be operated with air or compressed air, for example.
  • the hydraulic unit can be operated with water or oil, for example.
  • the pneumatic unit and / or the hydraulic unit can be designed as a cylinder-piston arrangement which is acted upon by the respective medium (compressed air, water, oil, etc.).
  • the first drive device can have a stepper motor, servomotor, spindle drive, eccentric or a gear.
  • the first drive device can have two electric motors.
  • the first drive device can have two pneumatic or hydraulic units.
  • Tool holder (e.g. in the middle of the upper tool holder) a first
  • Drive device e.g. an electric motor, a pneumatic unit or a
  • Hydraulic unit be arranged.
  • the first drive device can have an adjustable pull or push rod or linkage.
  • the upper tool holder can thus be adjusted depending on the progress of the bending process, either continuously or in successive, small steps.
  • the lower bending tool can be designed as a die.
  • the bending tool can be designed as a bending punch that can be penetrated into the die.
  • the upper bending tool can be designed as a die and the lower bending tool as a bending punch that can be penetrated into the die.
  • the die can be detachable and / or exchangeable on the lower tool holder (alternatively on the upper tool holder) and / or the bending punch can be detachably and / or exchangeably arranged on the upper tool holder (alternatively on the lower tool holder).
  • the die can be designed as a bending die.
  • the die can have a V- or U-shaped or semicircular recess into which the bending punch can penetrate.
  • the bending punch can have a shape that is complementary to the die or to the V- or U-shaped or semicircular recess of the die.
  • the combination machine can have a second drive device that can be coupled or coupled to the pivotable tool holder for transmitting a force (e.g. bending force, pressing force, folding force), the pivotable tool holder being pivotable by the second drive device about the pivot axis relative to the lower tool holder and designed for this purpose is, depending on the progress of the
  • a force e.g. bending force, pressing force, bending force
  • the pivotable tool holder can therefore exert a force on the workpiece in a direction essentially transverse / oblique to the infeed direction (i.e. at an angle to the infeed direction) of the upper tool holder.
  • the direction and / or the strength of the force can change as a function of the progress of the bending process.
  • the direction and / or strength of the force can therefore be dependent on the respective bending angle and / or pivot angle.
  • the swivel angle is the angle that the swiveling tool holder covers during the swiveling process.
  • the angular range can be between 0 ° and 180 °, for example between 0 ° and 170 °, preferably between 0 ° and 155 °.
  • the second drive device can pivot the pivotable
  • Tool holder at least one electric motor (e.g. a servo or
  • Stepper motor a pneumatic unit or a hydraulic unit.
  • Pneumatic unit can be operated with air or compressed air, for example.
  • the hydraulic unit can be operated with water or oil, for example.
  • the pneumatic unit and / or the hydraulic unit can be designed as a cylinder-piston arrangement which is acted upon by the respective medium (compressed air, water, oil, etc.).
  • the second drive device can have a stepper motor, servomotor, spindle drive, eccentric or a gear.
  • the second drive device can have two electric motors.
  • the second drive device can have two pneumatic or
  • swiveling tool holder e.g. left and right of the swiveling
  • Tool holder or a second drive device, for example an electric motor, a pneumatic unit or a hydraulic unit, can be arranged centrally to the pivotable tool holder (for example in the center of the pivotable tool holder).
  • the second drive device can be an adjustable pull or push rod or linkage exhibit. The pivotable tool holder can thus be adjusted as a function of the progress of the bending process, either continuously or in successive, small steps.
  • the lower tool holder can be designed as a stationary or stationary tool holder. In this embodiment, the lower tool holder cannot be moved relative to the upper tool holder or relative to the pivotable tool holder.
  • the pivotable tool holder can be designed to have at least one
  • pivotable bending tool detachably and / or interchangeably take up.
  • the lower tool holder is arranged below the upper tool holder.
  • the lower bending tool can be designed as a lower cheek tool.
  • the upper bending tool can be designed as an upper beam tool which can be advanced in the infeed direction except for a gap S equal to the thickness of the workpiece.
  • the bending tool to be pivoted or pivotable can be designed as a bending beam tool.
  • the lower cheek tool can be detachably and / or interchangeably arranged on the lower tool holder.
  • the upper cheek tool can be detachably and / or exchangeably arranged on the upper tool holder.
  • the bending beam tool can be detachably and / or exchangeably arranged on the pivotable tool holder.
  • the upper beam tool can be used for
  • Lower cheek tool be designed to be complementary.
  • a surface (e.g. workpiece contact surface) of the upper beam tool can be formed parallel to a surface (e.g. workpiece contact surface or workpiece support plane) of the lower beam tool.
  • a sheet metal part can thus be optimally clamped between the upper beam tool and the lower beam tool.
  • the lower beam tool can be fixed
  • the bending beam tool can be adjusted in a workpiece support plane at right angles to a bending edge of the upper beam tool in a direction away from the lower beam tool by a path that is dependent on the progress of a swivel bending process.
  • the bending edge of the upper beam tool can be a defined and / or predetermined one Have radius. This radius can depend on the bending radius and / or
  • the pivot axis of the pivotable tool holder or the bending beam tool can be parallel to the bending edge of the
  • the pivot axis can also be in the
  • Lower cheek tool can be arranged set back with its front edge facing the bending cheek tool with respect to the bending edge of the upper cheek tool. Additionally or alternatively, the front edge of the lower beam tool facing the bending beam tool can be placed under the bending edge (e.g. vertically below) of the
  • the lower tool holder and the pivotable tool holder can be arranged on a slide which can be moved relative to the upper tool holder.
  • the combination machine can have a slide drive (e.g. an electric motor,
  • Stepper motor, servo motor, eccentric or a spindle drive for moving the slide.
  • the lower beam tool can be adjustable together with the bending beam tool in the workpiece support plane at right angles to the bending edge of the upper beam tool, for example by the respective sheet metal thickness.
  • the combination machine can be designed so that before a swivel bending process begins, the lower beam tool is moved together with the bending beam tool in the workpiece support plane at right angles to the bending edge of the upper beam tool, for example by the respective sheet metal thickness.
  • the combination machine can furthermore have a stop unit arranged between the upper tool holder or the upper bending tool (e.g. upper cheek tool) and the lower tool holder or the lower bending tool (e.g. lower cheek tool) and adjustable via a drive.
  • the stop unit or parts thereof can be designed to be exchangeable.
  • the stop unit can be displaced by the drive in the horizontal, that is to say essentially perpendicular to the infeed direction of the upper tool holder, and / or in the vertical, that is to say essentially parallel to the infeed direction of the upper tool holder.
  • the machine body of the combination machine can be on two side uprights
  • the Machine body arranged within the combination machine.
  • the machine body is arranged centrally within the combination machine.
  • the machine body can be arranged centrally or centrally between the two lateral uprights of the machine frame.
  • the side stands of the machine frame can be designed as side plates.
  • the two lateral uprights or side plates of the machine frame can extend essentially in the vertical direction.
  • the two lateral uprights can be arranged parallel to one another.
  • the machine body may be substantially trapezoidal or diamond-shaped
  • the trapezoidal cross section can be designed as a right-angled trapezoid or an isosceles trapezoid.
  • the trapezoidal cross section can be designed as a right-angled trapezoid or an isosceles trapezoid.
  • Machine body have at least one side face / side element which / which is arranged parallel to the feed direction of the upper tool holder and / or the upper bending tool.
  • the machine body can have at least one side surface / side element which is perpendicular to the upper tool holder.
  • the machine body can have at least one
  • the side surfaces / side elements of the machine body can be used as plates, e.g. Metal plates.
  • the upper tool holder can form a part of the machine body and / or a side surface / side element of the machine body. This part or this / this side surface / side element is designed to absorb forces running essentially horizontally. Furthermore, this part or this / this side surface / side element contributes to the stability of the
  • this part or this / this side face / side element can be formed at least in sections parallel to an opposite side face / side element of the machine body.
  • the machine body can define a parallelogram of forces.
  • the forces acting at one (for example, the same) point of the parallelogram of forces and / or the total force of the parallelogram of forces can be the aforementioned bending or pressing forces during a bending process.
  • the machine body can therefore be designed to absorb the two forces acting at one (for example the same) point of the force parallelogram and / or the total force.
  • the parallelogram of forces can be made up of the two forces acting at one point
  • Swivel bending process occurring swivel bending force and / or result from a pressing force occurring during a die bending process. At least one
  • Design define one, two and / or three in cross section
  • Parallelogram of forces According to a variant, two and / or three side lengths of the parallelogram of forces can each be parallel to a respective one
  • the side surface / side element of the machine body can be designed as a press beam. This / this side surface / side element of the machine body can therefore have a greater width or thickness in cross section compared to the other side surfaces / side elements of the machine body.
  • the side surfaces / side elements of the machine body can be welded and / or screwed to one another.
  • the machine body can be welded and / or screwed to the upper tool holder.
  • the tool holders (lower tool holder, upper tool holder and pivotable tool holder) of the combination machine can each have at least one clamping means for releasably fixing and / or exchanging the respective
  • the clamping means can be designed as a quick release system. With the respective clamping means, the lower bending tool, the upper Bending tool and / or the to be pivoted or pivotable bending tool can be released from the respective tool holder or attached to the respective tool holder.
  • the clamping means can have a clamping jaw (or clamping jaw) by means of which the respective bending tool can be releasably fixed by clamping. The clamping jaw can be attached to the respective clamping jaw (or clamping jaw) by means of which the respective bending tool can be releasably fixed by clamping. The clamping jaw can be attached to the respective
  • Tool holder be attached or fixed.
  • the lower tool holder, the upper tool holder and / or the pivotable tool holder can have several (e.g. two, three, four, etc.) clamping means.
  • each of the tool holders can have ten clamping means.
  • One or more bending tools can therefore be arranged in a detachable and / or exchangeable manner in a fixed manner.
  • the plurality of bending tools can be arranged directly next to one another or at a distance from one another on the respective tool holder.
  • one or more bending punches and / or one or more upper beam tools can be arranged on the upper tool holder.
  • One or more dies and / or one or more lower cheek tools can be arranged on the lower tool holder.
  • Tool holder one or more bending beam tools can be arranged.
  • the respective tool holders can therefore also be equipped with standard tool sets.
  • the combination machine can have at least one first adapter piece, which for this purpose
  • a lower bending tool in particular a die (or a
  • the combination machine can have at least one second adapter piece, which is designed to attach an upper bending tool,
  • At least part of the first adapter piece can be designed to be complementary to at least a part of the lower tool holder, in such a way that a releasable connection (e.g. a clamp connection or by inserting the adapter piece into the lower tool holder) is formed between the first adapter piece and the lower tool holder
  • a releasable connection e.g. a clamp connection or by inserting the adapter piece into the lower tool holder
  • Tool holder can be produced.
  • At least part of the second adapter piece can be designed to be complementary to at least a part of the upper tool holder, in such a way that a releasable clamping connection can be established between the second adapter piece and the upper tool holder.
  • the first adapter piece can have a clamping means for releasably fixing or securing the lower bending tool.
  • the second adapter piece can have a clamping means for releasably fixing or securing the upper bending tool.
  • the respective clamping means can have a clamping jaw.
  • the clamping jaw can be fixed by means of a screw connection.
  • the combination machine can in particular be designed for metal forming. For example, it can bend sheet metal, wires, pipes or other metal parts.
  • a use of a folding machine as a press brake comprises: a lower tool holder which is designed to detachably receive at least one lower bending tool; an upper tool holder which is designed to detachably receive at least one upper bending tool and which can be fed in a straight line in an infeed direction onto the lower tool holder; and a pivotable tool holder which is designed to detachably receive at least one bending tool to be pivoted and which is arranged around a perpendicular to the feed direction of the upper one
  • Tool holder extending pivot axis is pivotable relative to the lower tool holder.
  • a die can be used on the lower tool holder
  • an upper bending tool designed as a bending punch that can be penetrated into the die can be detachably arranged on the upper tool holder.
  • the upper beam tool can be used as a bending punch.
  • FIG. 1 shows a perspective illustration of an exemplary embodiment of a combination machine for swiveling and swiveling a workpiece
  • FIG. 2 shows a perspective illustration of the combination machine according to FIG. 1 without an upper housing part
  • Fig. 3 is a perspective front view of an embodiment of the
  • Fig. 4 is a rear perspective view of the machine body and the
  • Fig. 5 is a sectional view of the machine body and the tool receptacles along the line A-A of Fig. 3;
  • FIG. 6a shows a schematic cross-sectional illustration of a variant of the machine body
  • 6b shows a schematic cross-sectional illustration of a further variant of the
  • 6c shows a schematic cross-sectional illustration of a further variant of the
  • 6d shows a schematic cross-sectional illustration of a further variant of the
  • 6e shows a schematic cross-sectional illustration of a further variant of the
  • 6g shows a schematic cross-sectional illustration of a further variant of the
  • FIG. 7 shows a sectional view of a variant of in the tool receptacles in FIG
  • Combination machine according to FIGS. 1 and 2 arranged bending tools
  • FIG. 8 shows a sectional view of a further variant of the tool holders of the combination machine according to FIGS. 1 and 2 arranged bending tools;
  • FIG. 9 shows a sectional view of a further variant of the tool holders of the combination machine according to FIGS. 1 and 2 arranged bending tools.
  • FIGS. 1 and 2 show a sectional view of a further variant of the tool holders of the combination machine according to FIGS. 1 and 2 arranged bending tools;
  • Figs. 1 to 5 show an exemplary embodiment of a combination machine 10 for swivel and die bending a workpiece.
  • the combination machine 10 is first described with reference to FIGS. 1 and 2 explained in more detail.
  • FIG. 1 shows a perspective external representation of the combination machine 10.
  • Combination machine 10 has a machine frame 12 with a lower part 14 and an upper part 16 arranged above it.
  • a main switch 18 is attached to the lower part 14 of the machine frame 12 in order to switch the combination machine 10 on and off.
  • the main switch 18 is all rotary switches.
  • a footrest 20 is provided in the lower area of the lower part 14.
  • a foot pedal 22 is arranged on the footrest 20.
  • a movement of a tool holder and / or a bending tool can be triggered by pressing the foot pedal 22.
  • several (for example two or three) foot pedals can be present in order to operate a specific tool holder and / or a specific bending tool.
  • a hand rest 24 is arranged on the left and right on the front of the combination machine 10.
  • a user can place his left hand on the left hand support 24 and his right hand on the right hand support 24.
  • the pressure switches 26 can be used to trigger a movement of a tool holder (for example a pivotable tool holder). For safety reasons, it can be provided that to operate the tool holder.
  • the upper part 16 of the machine frame 12 has a removable housing 28.
  • the housing 28 is configured in three parts in the present exemplary embodiment.
  • the housing 28 has a left housing part 28a, a right housing part 28b and a middle one
  • Housing part 28c Ventilation holes or slots 30 are provided on the housing 28 or on the left housing part 28a and right housing part 28b in order to ensure adequate ventilation of the interior of the combination machine 10.
  • the middle housing part 28c is arranged between the left housing part 28a and the right housing part 28b.
  • a display device 32 e.g. a screen attached to display machine data.
  • the display device 32 can be designed as a touch display (touch-sensitive screen). By means of the touch-sensitive display device 32, a user can program the combination machine 10 and / or call up certain programs and thereby operate the combination machine 10.
  • the programs can be stored in a machine control (not shown).
  • the combination machine 10 has a lower tool holder 34, an upper one
  • Tool holder 36 and a pivotable tool holder 38. As can be seen in Fig. 1, the three tool holders 34, 36, 38 are in the upper part 16 of the
  • Machine frame 12 arranged between the left housing part 28a and the right housing part 28b.
  • the lower tool holder 34 is designed to detachably receive at least one lower bending tool 40.
  • the upper tool holder 36 is designed to detachably receive at least one upper bending tool 42.
  • the upper tool holder 36 can be fed in a straight line in a feed direction 92 (from top to bottom in FIG. 1) onto the lower tool holder 34.
  • Tool holder 38 is designed to hold at least one pivoting or pivoting tool.
  • pivotable bending tool 44 detachably take up.
  • Tool holder 38 is a perpendicular to the feed direction 92 of the upper Tool holder 36 extending pivot axis 46 relative to the lower
  • Tool holder 34 pivotable.
  • the combination machine 10 also has a machine body 48 which is arranged in the upper part 16 of the machine frame 12 (FIG. 2).
  • the machine body 48 is located within the housing 28.
  • the machine body 48 is arranged within the central housing part 28c.
  • FIG. 2 now shows a perspective illustration of the combination machine 10 without the upper housing 28.
  • the machine frame 12 has two lateral uprights 50.
  • the side uprights 50 are designed as side plates and extend in the vertical direction (from top to bottom in FIG. 2).
  • the side plates 50 are fastened to a horizontally arranged base plate 51 of the machine frame 12.
  • the base plate 51 rests on the lower part 14 of the machine frame 12 and can be attached to it.
  • Side plate 50 is located essentially on the right side of the combination machine 10.
  • the lower tool holder 34, the upper tool holder 36 and the pivotable tool holder 38 are arranged between the two side plates 50.
  • the machine body 48 is also arranged between the two side plates 50.
  • the upper tool holder 36 is arranged on the machine body 48 and attached thereto.
  • the machine body 48 is held on the side plates 50 and can be fixed thereon.
  • the machine body 48 has two holding plates 52. One each
  • Retaining plate 52 is fixed on the left and right sides of the machine body 48, for example by means of screws.
  • the holding plates 52 of the machine body 48 protrude through a recess 54 in the side plates 50.
  • the holding plates 52 of the machine body 48 protrude through a recess 54 in the side plates 50.
  • the machine body 48 thus protrudes from the side surfaces of the side plates 50 facing away from the machine body 48 and extends to the left or right side of the combination machine 10.
  • the combination machine 10 has a first drive device 56 that can be coupled or coupled to the upper tool holder 36 for the transmission of a force (depending on the application, for example a bending force, pressing force, stamping force, holding force or clamping force).
  • the first drive device 56 has two electric motors 58 for raising and lowering the upper tool holder 36.
  • the electric motors 58 of the first Drive devices 56 are each connected to a ball screw 62 via a gear 60 (eg angular planetary gear).
  • a gear 60 eg angular planetary gear
  • Ball screw 62 of the first drive device 56 is arranged.
  • Drive device 56 is correspondingly fastened to the side surfaces of side plates 50 of machine frame 12 facing away from machine body 48.
  • Ball screws 62 are attached to the retaining plates 52 of the machine body 48.
  • the rotary movement generated by the electric motors 58 is controlled by the
  • Ball screw 62 converted into a linear movement.
  • Ball screw drives 62 the holding plates 52 of the machine body 48 are moved within the recesses 54 of the side plates 50. This is a lowering and raising of the holding plates 52 and thus the machine body 48 and the upper
  • Tool holder 36 allows.
  • the holding plates 52 of the machine body 48 can be moved in a vertical or vertical direction by the ball screw drives 62 driven by the electric motors 58, ie in the feed direction 92 (from top to bottom in FIG. 2).
  • the tool holder 36 can thus exert an essentially perpendicular force on the workpiece in the feed direction 92.
  • a rail can be provided along or within which the respective holding plate 52 of the machine body 48 can be moved.
  • the combination machine 10 has a second drive device 64 that can be or is coupled to the pivotable tool holder 38 for the purpose of transmitting a force (e.g. a bending force or pressing force).
  • the second drive device 64 has to
  • Pivoting the pivotable tool holder 38 about the pivot axis 46 has two electric motors 68.
  • the electric motors 68 of the second drive device 64 are each connected to the pivotable tool holder 38 via a gear 70.
  • the second drive device 64 is located on the sides of the side plates 50 facing away from the pivotable tool holder 38 of the machine frame 12.
  • the pivotable tool holder 38 can thus by means of the electric motors 68 of the second drive device 64 depending on the
  • Tool holder 38 can therefore apply a force (e.g. bending force) in one direction
  • the combination machine 10 has a stop unit arranged between the upper tool holder 36 or the upper bending tool 42 and the lower tool holder 34 or the lower bending tool 40 (not shown in FIGS. 1 and 2).
  • the stop unit can be designed as a stop ruler.
  • the stop unit may preferably have two or more stop towers, e.g. a left and a right stop tower.
  • the stop unit can be driven in the horizontal plane, that is to say essentially within one of the feed direction 92 of the upper
  • Tool holder 36 vertical plane, and / or in the vertical, so in
  • the drive of the stop unit has at least one electric motor 72.
  • the combination machine 10 has a further drive in the form of an electric motor 74.
  • Two electric motors 74 can also be provided to advance the pivotable tool holder 38.
  • the lower tool holder 34 is designed as a stationary or stationary tool holder.
  • FIGS. 3 and 4 show a perspective front view (FIG. 3) and rear view (FIG. 4) of an exemplary embodiment of the machine body 48 and the tool holders 34,
  • Tool holder 38 (along their length) parallel to one another
  • the lower tool holder 34 is attached to the machine frame 12 and has a
  • clamping means 78 (here 10) designed as a quick-release clamping system are attached to the mounting rail 76 of the lower tool holder 34, which in connection with FIGS. 7 to 10 are described in more detail.
  • a clamping means 78 Only a single lower bending tool 40 is clamped into the lower tool holder 34 by means of a clamping means 78.
  • the upper tool holder 36 is attached to the machine body 48 and has a
  • clamping means 82 designed as a quick-release clamping system are attached to the mounting rail 80 of the upper tool holder 36, which in connection with FIGS. 7 to 10 are described in more detail.
  • a single upper bending tool 42 is clamped into the upper tool holder 36 by means of a clamping means 82.
  • the upper bending tool 42 is positioned above the lower bending tool 40.
  • the pivotable tool holder 38 is arranged between two pivot levers 84 and attached to them.
  • the pivot levers 84 are rotatably mounted about the pivot axis 46 on the machine frame 12.
  • the second drive device 64 is connected to the two pivot levers 84 and can pivot them.
  • Tool holder 38 also has a holder rail 86 on which in the
  • clamping means 88 designed as a quick-release system are attached.
  • the clamping means 88 are in connection with FIGS. 7 to 10 described in more detail.
  • a single bending tool 44 to be pivoted is clamped into the pivotable tool holder 38 by means of a clamping means 88.
  • the bending tool 44 to be pivoted is, as shown in FIGS. 3 and 4, below the upper bending tool 42 and in front of the lower bending tool 40.
  • the machine body 48 has several side surfaces or side elements 90 and is arranged essentially above the upper tool holder 36.
  • side surfaces or side elements 90 of the machine body 48 are designed as metal plates.
  • the machine body 48 can be designed as a hollow body.
  • one or more Support structures can be arranged which, for example, connect opposite side surfaces or side elements 90 of the machine body 48 to one another. Additionally or alternatively, one or more support structures can be provided, which part of the upper tool holder 36 with a side surface / side element 90 of the
  • Machine body 48 connects or connect.
  • the support structure can be designed as a support strut or piece plate.
  • the support structure can be one or more
  • the side surfaces / side members 90 of the machine body 48 are herein
  • Embodiment welded together. According to the in Fign.
  • two side surfaces / side elements 90 of the machine body 48 are welded to the upper tool holder 36.
  • the geometric configuration of the machine body 48 is designed so that the in one direction of movement or in the feed direction 92 of the upper
  • Tool holder 36 and the bending forces occurring during a pivoting process of the pivotable tool holder 38 as a function of the progress of a bending process are absorbed by the machine body 48.
  • the geometry of the machine body 48 is based on the following FIGS. 5 and 6 described in more detail.
  • Fig. 5 is a sectional view of the machine body 48 and the lower
  • Tool holder 34 the upper tool holder 36 and the pivotable
  • the machine body 48 has an essentially trapezoidal or diamond-shaped cross section. in the
  • the cross section of the machine body 48 is designed as a substantially right-angled trapezoid.
  • This cross section is essentially formed by the side surfaces or side elements 90 of the machine body 48 and illustrated with the aid of the dashed lines in FIG. 5.
  • Two of the side surfaces / side elements 90 of the machine body 48 are attached to the upper tool holder 36, for example by means of a screw or weld connection.
  • a side surface / side member 90 of the machine body 48 is parallel to the
  • Infeed direction 92 of the upper tool holder 36 is arranged and is perpendicular to the upper tool holder 36 (in FIG. 5 the right side surface / element 90). Furthermore, in the embodiment shown in FIG. 5, there are two side surfaces / side elements 90 of the machine body 48 aligned parallel to one another and arranged opposite one another (in FIG. 5, the left and right side surfaces / side elements 90).
  • the side surface / side element 90 of the machine body 48 that is perpendicular to the upper tool holder 36 is designed as a press beam. This side surface or this side element 90 of the machine body 48 therefore has a greater width or thickness in cross section compared to the other side surfaces / side elements 90 of the machine body 48. Due to the more massive design of the one on top
  • Tool holder 36 perpendicular side face / side element 90 can be optimally absorbed in the feed direction 92 (direction of movement of the upper tool holder 36) bending forces.
  • the / the lower side surface / side element 90 of the machine body 48 extends substantially transversely / obliquely (i.e., at an angle) to the infeed direction 92 of the upper
  • Tool holder 36 as a result of which transverse forces that occur, for example, during a pivoting process of the pivotable tool holder 38, can be optimally absorbed.
  • the upper tool holder 36 forms part of the machine body 48. This part is designed to absorb forces running essentially transversely / obliquely and / or horizontally (i.e. forces transversely / obliquely or perpendicular to the infeed direction 92). It also contributes to the stability of the machine body 48.
  • This part is formed at least in sections perpendicular to the infeed direction 92 of the upper tool holder 36 and at least in sections perpendicular to the side surface / side element 90 of the machine body 48 that is perpendicular to the upper tool holder 36. In the present exemplary embodiment, this part is also formed, at least in sections, parallel to an opposite side surface / side element 90 of the machine body 48.
  • the machine body 48 defines a parallelogram of forces, where
  • At least one side length of the parallelogram of forces runs parallel to a side surface or a side element 90 of the machine body 48.
  • Embodiment define three side surfaces / side elements 90 of the machine body 48 in cross section (in FIG. 5 the left, right and lower inclines
  • the above-described part of the upper tool holder 36 which forms part of the machine body 48, can run or be arranged parallel to one side of the parallelogram of forces.
  • FIGS. 6a to 6g are further variants of the machine body 48
  • FIG. 6a shows a variant of the machine body 48 in which the
  • Side face / side element 90 of the machine body 48 is arranged parallel to the infeed direction 92 of the upper tool holder 36.
  • This / this side surface / side element 90 can in turn be designed as a press beam and stand perpendicular to the upper tool holder 36.
  • the left side surface / side element 90 opposite the right side surface 90 or the right side element 90 is here, in contrast to the variant according to FIG. 5, arranged obliquely.
  • the variant of the machine body 48 shown in FIG. 6b essentially corresponds to the variant according to FIG. 6a, but has a support structure 94.
  • the support structure 94 can be designed as a support strut or support plate.
  • a support plate can, for example, have a rectangular or triangular shape.
  • the support structure 94 may be attached to the outer surface of the machine body 48 or within the machine body 48.
  • the support structure 94 connects the upper and lower side surface / side element 90 of the machine body 48 to one another in FIG. 6 b.
  • the support structure 94 is arranged parallel to the right side surface / side element 90 which is perpendicular to the upper tool holder 36.
  • the machine body 48 may have multiple support structures 94.
  • Fig. 6c shows a further variant of the machine body 48, in which the
  • Side surfaces / side elements 90 of the machine body 48 form a square or rectangle in cross section. In this variant are the opposite Side surfaces / side elements 90 arranged parallel to one another.
  • the right side surface / side element 90 of the machine body 48 illustrated in FIG. 6c is perpendicular to the upper tool holder 36.
  • 6d shows a further variant of the machine body 48, wherein the
  • the parallelogram spanned by the side surfaces / side elements 90 of the machine body 48 inclines obliquely backwards (to the left in FIG. 6a) into the interior of the combination machine 10.
  • the side surfaces / side elements 90 of the machine body 48 are arranged inclines obliquely backwards (to the left in FIG. 6a) into the interior of the combination machine 10.
  • the right side surface / side element 90 of the machine body 48 shown in FIG. 6d is also designed here as a press beam, albeit to a somewhat reduced or more compact extent.
  • the press beam is in turn perpendicular to the upper tool holder 36.
  • FIGS. 6e and 6f show two variants of the machine body 48 in which the one arranged on the top of the upper tool holder 36
  • the side surface / side element 90 of the machine body 48 (in FIGS. 6e and 6f the right side surface / side element 90) is not perpendicular to the upper tool holder 36, but is inclined at an angle 98 to the perpendicular 96.
  • the perpendicular 96 is parallel to the infeed direction 92 of the upper tool holder 36.
  • This side surface / this side element 90 of the machine body 48 is preferably inclined backwards into the interior of the combination machine 10.
  • the angle 98 can be between 0 ° and 45 °. In one embodiment, the angle 98 is between 5 ° and 30 °, for example at 15 °.
  • the lower side surface / side element 90 of the machine body 48 can run transversely or obliquely (FIG. 6e) or perpendicular (FIG. 6f) to the perpendicular 96.
  • FIG. 6g Another variant of the machine body 48 is shown in FIG. 6g. This variant
  • FIG. 5 corresponds essentially to the embodiment shown in FIG. 5, but has one (alternatively several) support structure 94 arranged inside the machine body 48, for example a support strut or support plate.
  • the support structure 94 is in
  • the support structure 94 is arranged transversely or obliquely to the infeed direction 92 of the upper tool holder 36.
  • the support structure 94 connects the one that is perpendicular to the upper tool holder 36
  • the support structure 94 defines a side length of a
  • Parallelogram of forces 95 The parallelogram of forces 95 can be compared to the above, e.g. B. with reference to Fig. 5, correspond to the parallelogram of forces described. In the present
  • Embodiment define three side surfaces / side elements 90 of the machine body 48 in cross section, namely in Fig a side length of the parallelogram of forces 95.
  • the machine body 48 can the in the feed direction 92 of the upper tool holder 36 and during a pivoting process of the
  • pivotable tool holder 38 depending on the progress of a
  • Tool holders 34, 36 and 38 of the combination machine 10 arranged bending tools described.
  • FIG. 7 shows a sectional view of a first variant of the tool holders 34
  • Bending tool 40 is designed as a lower cheek tool and is detachably arranged on lower tool holder 34.
  • the lower cheek tool 40 defines a
  • Workpiece support plane 98 which is shown schematically in FIG. 7 by a dashed line.
  • the workpiece support plane 98 is aligned horizontally.
  • the upper bending tool 42 is equal to the thickness of one in the feed direction 92 except for a gap S
  • the upper cheek tool 42 is detachably arranged on the upper tool holder 36.
  • the upper cheek tool 42 has a substantially L-shape in cross section. Furthermore, the
  • Upper beam tool 42 has a bending edge 100 which has a defined and / or Has a predetermined radius. This radius can be selected depending on the bending radius and / or workpiece.
  • the bending tool 44 to be pivoted is designed as a bending beam tool and is detachably arranged on the pivotable tool holder 38. As can be seen in FIG. 7, there is a working surface (surface with which the bending beam tool comes into contact with the workpiece) of the
  • the lower beam tool 40 defines the workpiece support plane 98.
  • the pivot axis 46 of the pivotable tool holder 38 or of the bending beam tool 44 is parallel to the bending edge 100 of the upper beam tool 42
  • the pivot axis 46 lies in the workpiece support plane 98.
  • the lower beam tool 40 is arranged with its front edge facing the bending beam tool 44 set back relative to the bending edge 100 of the upper beam tool 42.
  • the lower cheek tool 40 is designed to be stationary. With the lower cheek tool 40 stationary, the bending cheek tool 44 is in FIG.
  • Lower cheek tool 40 adjustable by a distance dependent on the progress of a swivel bending process.
  • the upper cheek tool 42 has a to
  • Infeed direction 92 arranged in parallel central shaft section 102.
  • a wedge-shaped leg 104 extends transversely or at an angle to the shaft section 102 and forms the upper cheek with its bending edge 100.
  • a holding structure 106 is formed in such a way that the upper cheek tool 42 is detachably attached to the receiving rail 80 of the upper
  • Tool holder 36 can be attached. To this end, the
  • the receiving rail 80 of the upper tool holder 36 has a hook element 108 on which the upper cheek tool 42 can be hooked.
  • the holding structure 106 of the upper cheek tool 42 has at least one, in the present exemplary embodiment two, hook sections 109.
  • the hook sections 109 of the upper cheek tool 42 engage in complementarily designed receiving structures of the hook element 108 of the receiving rail 80.
  • a clamping jaw 82 can then be used to insert the Hook element 108 hooked upper beam tool 42 on the upper
  • Tool holder 36 can be detachably fixed by clamping.
  • the clamping jaw 82 can be fixed to the upper tool holder by means of screws.
  • the lower cheek tool 40 is detachably fixed by clamping by means of a clamping jaw 78 on the receiving rail 76 of the lower tool holder 34.
  • Clamping jaw 78 can be attached to the by means of screws not shown in FIG.
  • Mounting rail 76 of the lower tool holder 34 are attached.
  • the bending beam tool 44 is releasably fixed by clamping by means of a clamping jaw 88 on the receiving rail 86 of the pivotable tool holder 38.
  • the clamping jaw 88 can by means of screws not shown in FIG. 7 on the
  • Mounting rail 86 of the pivotable tool holder 38 are attached.
  • FIG. 8 A further variant of the upper beam tool 42 is shown in FIG. 8.
  • the upper cheek tool 42 shown in FIG. 8 has a central shaft section 102 running transversely or obliquely to the infeed direction 92 of the upper tool receptacle 36.
  • the middle shaft section 102 of the upper cheek tool 42 is preferably oriented essentially in the direction of the bending cheek tool 44. This enables better accessibility of the workpieces to be bent or bent.
  • FIG. 7 A further variant of the upper beam tool 42 is shown in FIG. This variant is now a combination of the upper beam tool 42 according to FIG. 7 and the
  • Upper cheek tool 42 here has both a straight section, which is aligned parallel to the infeed direction 92, and a section that runs transversely or obliquely to the infeed direction 92.
  • the lower bending tool 40 is designed as a die (bending die).
  • the upper bending tool 42 is designed as a bending punch 42 that can be penetrated into the die 40.
  • the die 40 is V-shaped Recess 110 into which the punch 42, as shown in FIG. 10, can penetrate.
  • the die 40 can have a U-shaped or semicircular recess.
  • the die 40 defines with its V-shaped end
  • the bending punch 42 has a bending punch tip 1 12 that is complementary to the die 40 or to the V-shaped recess 110 of the die 40
  • the die 40 is detachable and exchangeable on the lower tool holder 34
  • the bending punch 42 is detachable and exchangeable on the upper one
  • the combination machine 10 has at least one first adapter piece 114.
  • the first adapter piece 114 is designed to releasably fix a lower bending tool 40, in the present exemplary embodiment according to FIG. 10 the die 40, to the lower tool holder 34.
  • At least a part of the first adapter piece 114 is designed to be complementary to at least a part of the receiving rail 76 of the lower tool holder 34, such that between the first
  • Adapter piece 1 14 and the receiving rail 76 of the lower tool holder 34 a detachable connection (in the present embodiment a clamp connection) can be produced.
  • the first adapter piece 1 14 is by means of the clamping jaw 78 on the
  • the first adapter piece 1 14 has a clamping means 1 16 with a
  • the die 40 has at its end opposite the V-shaped recess 110
  • Retaining pin which can be clamped between the first adapter piece 1 14 and the clamping jaw 1 16.
  • the clamping jaw 116 is fixed to the first adapter piece 114 by means of a screw connection in order to clamp the holding pin of the die 40.
  • the combination machine 10 additionally has at least one second adapter piece 118.
  • the second adapter piece 1 18 is designed to have an upper bending tool 42, im
  • Tool holder 36 designed in such a way that between the second adapter piece 1 18 and the upper tool holder 36 or the hook element 108 of the upper
  • Adapter piece 1 18 is by means of the clamping jaw 82 on the hook element 108 of the
  • Mounting rail 80 of the upper tool holder 36 is releasably fixed by clamping.
  • the second adapter piece 1 18 has a clamping means 120 with a
  • the bending punch 42 has at its V-shaped bending punch tip 112
  • the opposite end has a retaining pin which can be clamped between the second adapter piece 1 18 and the clamping jaw 120.
  • the clamping jaw 120 is fixed to the second adapter piece 118 by means of a screw connection in order to clamp the holding pin of the bending punch 42.

Landscapes

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

Abstract

L'invention concerne un engin combiné (10) pour le cintrage par mandrin et le cintrage sur presse d'une pièce. Ledit engin combiné (10) comprend un logement d'outil inférieur (34) conçu pour recevoir au moins un outil de cintrage inférieur (40) ; un logement d'outil supérieur (36) conçu pour recevoir au moins un outil de cintrage supérieur (42), et pouvant être déplacé sur le logement d'outil inférieur (34) de façon rectiligne dans une direction d'avancement (92) ; un logement d'outil pivotant (38) conçu pour recevoir de manière amovible au moins un outil de cintrage à pivotement (44), et pouvant pivoter, par rapport au logement d'outil inférieur (34), autour d'un axe de pivotement (46) s'étendant perpendiculairement à la direction d'avancement (92) du logement d'outil supérieur (36) ; et un corps d'engin (48) sur lequel est disposé le logement d'outil supérieur (36), le corps d'engin (48) étant conçu pour absorber la force de cintrage qui se produit, en fonction de l'évolution de l'opération de cintrage, dans la direction d'avancement (92) du logement d'outil supérieur (36) et pendant une opération de pivotement du logement d'outil pivotant (38).
EP20707038.4A 2019-02-21 2020-02-20 Engin combiné pour le cintrage par mandrin et le cintrage sur presse d'une pièce Pending EP3927482A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019104502.9A DE102019104502B4 (de) 2019-02-21 2019-02-21 Kombimaschine zum Schwenk- und Gesenkbiegen eines Werkstücks sowie Verwendung einer Schwenkbiegemaschine als Abkantpresse
PCT/EP2020/054445 WO2020169716A1 (fr) 2019-02-21 2020-02-20 Engin combiné pour le cintrage par mandrin et le cintrage sur presse d'une pièce

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EP3927482A1 true EP3927482A1 (fr) 2021-12-29

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US (1) US20220314293A1 (fr)
EP (1) EP3927482A1 (fr)
JP (1) JP2022521343A (fr)
KR (1) KR20210129062A (fr)
CN (1) CN113646104B (fr)
DE (1) DE102019104502B4 (fr)
WO (1) WO2020169716A1 (fr)

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CN118023348B (zh) * 2024-04-13 2024-06-04 佛山市万固护栏科技有限公司 一种柔性生产线用板材智能折弯设备

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Publication number Publication date
KR20210129062A (ko) 2021-10-27
JP2022521343A (ja) 2022-04-06
DE102019104502A1 (de) 2020-08-27
WO2020169716A1 (fr) 2020-08-27
US20220314293A1 (en) 2022-10-06
CN113646104B (zh) 2024-07-23
DE102019104502B4 (de) 2021-01-14
CN113646104A (zh) 2021-11-12

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