Arrangement with a bending press and a robot and method for producing a bent part

专利摘要:
The invention relates to a method for producing a bent part (2) by means of a bending press (1), in which the bent part (2) is fed into the bending press (1) by means of a gripper (40..42) of a robot (3) and This is then bent by pressing the bending press (1). Before bending, the thickness of the bending part (2) is determined by means of said gripper (40..42). With the aid of the abovementioned measured value, a pressing pressure and / or a travel path and / or a parameter dependent thereon are influenced during bending in such a way that a deviation between an actual bending angle (a) and a desired bending angle is reduced. Furthermore, an arrangement for carrying out said method is given.
公开号:AT512892A4
申请号:T1155/2012
申请日:2012-10-25
公开日:2013-12-15
发明作者:
申请人:Trumpf Maschinen Austria Gmbh；
IPC主号:

专利说明:

* «« · • *
The invention relates to a method for producing a bent part by means of a bending press, wherein the bent part is fed by means of a gripper of a robot in the bending press and then bent by operating the bending press. Furthermore, the invention relates to an arrangement with a bending press for bending a bent part and a robot, which is prepared for feeding the bending part in the bending press by means of a gripper.
Such a method or such an arrangement are known in principle. In this case, bent parts to be bent by a robot, which is equipped with a gripper, taken from a delivery area, supplied to the bending press and bent in the connection. The bending part can be held by the robot during the bending process or can also be fixed to the bending press, for example by a tensioning mechanism.
A general problem when bending a bent part are the tolerances of the blank. For example, if it is a bent part made of sheet metal, thickness tolerances of the raw material can lead to significant deviations of the actual bending angle from a desired soli bending angle. The Biegeteii then has to be bent nachgebogen consuming or disposed of as a committee. In any case, a re-inspection of the bent bent parts is required.
In fully automated production lines different or poorly bent bent parts can lead to significant problems in the manufacturing process, especially if not every part is controlled and poorly bent parts remain undetected. As a result, the following N2011 / 37400 • · * * * * «« • * ** * 2 • · «« «· * * 4« ♦ • 4 · * 44 4 ·· 44 * 4
Manufacturing in which, for example, a larger unit is assembled from several components, made difficult or even brought to a standstill.
An object of the invention is therefore to provide an improved arrangement with a bending press and a robot and an improved method for producing a bent part. In particular, a deviation between an actual bending angle and a desired bending angle should be kept small, without the need for each bending part to be nachkontrolliert.
The object of the invention is achieved by a method of the type mentioned, in which the thickness of the bent part is determined before bending by means of the gripper of the robot and a pressing pressure and / or a travel and / or a dependent parameter of the bending press during bending is influenced by the measured value of the bending thickness such that a deviation between an actual bending angle and a desired bending angle is reduced.
Furthermore, the object of the invention is achieved by an arrangement of the type mentioned, in which the gripper of the robot comprises means for determining the thickness of the bending part, the arrangement comprises means for transmitting a measured value of the bending thickness of the robot to the bending press and the bending press a control includes, which is adapted to influence a pressing pressure and / or a travel path and / or a dependent parameter of the bending press in bending by the measured value of the bending thickness, such that a deviation between an actual bending angle and a target bending angle is reduced.
In particular, the pressing pressure / the path of travel of the bending press in the above-mentioned method or in the above-mentioned arrangement is increased / shortened as the measured value for the bending thickness increases.
By determining the bending thickness before the bending process, this can be influenced to the extent that the actual bending angle approximates or even corresponds to a desired bending angle N2011 / 37400 as well as possible. Bending is therefore not necessary or only in exceptional cases. Also, a follow-up of each bent part can be omitted without risking disruptions in a fully automatic production process.
Instead of the pressing pressure / the travel path or in addition to it, generally a dependent parameter of the bending press for influencing the same can be used. For example, the pressing force depends on the pressing pressure. If the bending press is hydraulically driven, the amount of oil flowing into the hydraulic cylinders depends on the travel. If a spindle drive is provided, then the number of revolutions of a drive motor depends on the travel path. The stated parameters are of course only illustrative examples. Other parameters can also be used to influence the bending press.
In general, the presented method or the proposed arrangement for the production of bent parts of all kinds, in particular for sheet metal bending parts are suitable. For this purpose, the bending press can be designed, for example, as a press bending press or as a swivel press brake. The robot may be formed as a commercial industrial robot with serially kinematic or parallel kinematic drive. Of course, this list is purely illustrative. Of course, the bending press or the robot may also have a different structure. Furthermore, it should be noted that the proposed method or the proposed arrangement is not limited to the production of sheet-metal bent parts, but for example, is also applicable to tube bending machines.
Further advantageous embodiments and modifications of the invention will become apparent from the dependent claims and from the description in conjunction with the figures. It is advantageous if the bent bent part is removed with the aid of the gripper of the robot from the bending press. In this way, a fully automatic process results in the production of a bent part. N2011 / 37400
i · ♦ «m«
It is advantageous if the bending thickness is determined directly from the relative position of gripping elements of the gripper to each other or calculated. For example, the distance between two mutually displaceably mounted gripping elements, which corresponds to the thickness of a bending part located in the gripper, can be directly determined (measured) with a linear measuring system. It is also conceivable, however, for the thickness of a bending part in the gripper to be calculated based on the relative position of gripping elements of the gripper relative to one another. For example, the gripping elements can be rotated relative to one another and grab a pair of tongs. The angular position of the gripping elements to one another can now provide information about how thick the bending part positioned between the gripping elements.
It is advantageous if the bending thickness is determined at a predeterminable gripping force or a predetermined gripping pressure. As a result, reproducible measurement results for the bending thickness can be achieved, since the deformation of the bent part by the gripping gripper is always substantially the same. If the gripping force is so great that a falsification of the measurement result for the bending thickness is unavoidable, a (constant) correction value can also be determined in order to correct the measurement result.
But it is also advantageous if a deformation of the gripper is determined and used for a correction of the measured value for the bending thickness. In this variant, the corrective value for the bending thickness is thus determined on the basis of the currently occurring deformation. The said deformation can be determined directly, for example by means of strain gauges in the gripper, or calculated by the holding force.
It is particularly advantageous if the thickness of the bent part is determined at that gripping thereof which serves for feeding the bent part into the bending press.
In this variant of the manufacturing process, a part to be bent is thus grasped, fed into the bending machine and then bent, the bending thickness between the gripping of the bending part and the bending thereof being determined, without letting go of the bent part. As a result, the method can be well integrated into existing systems, since the workflow in relation to N2011 / 37400 does not change to the manipulation of the bending part. In addition, the process presented is very efficient, since by measuring the bending thickness practically no loss of time in the production of a bent part is created. In particular, the bending thickness can also be measured during the feed movement of the robot.
Advantageously, the measurement of the bending thickness without the bending part is raised in order to avoid a falsification of the measurement result by the load on the gripping elements. For example, the gripper could be slightly widened when lifting by an arising tilting moment. Alternatively, it is also conceivable that the bent part is deposited at least on one side during measurement in order to avoid a falsification of the measurement result in this way largely.
It is also particularly advantageous if the bending thickness is determined with a handle which only serves to determine the said thickness. In this variant of the manufacturing process, a separate "measuring handle" is performed to determine the bending thickness. For example, this may be advantageous if the thickness of the bending part is to be determined at a position which differs from the position at which the bending part is raised. Advantageously, this measurement is carried out without lifting the bending part.
It is furthermore particularly advantageous if the bending thickness is determined on or in the region of a bending line. As a result, the bending of the bent part can be carried out particularly accurately, since its thickness is determined at the position at which it is later bent. Within the scope of the invention, "in the region of the bending line" means in particular 20 cm away from the bending line, preferably 10 cm away from the bending line and more preferably 5 cm away from the bending line.
In addition, it is advantageous if the deviation of the actual angle of the bent bent part from the desired angle is determined and the influence of the bending press is adapted by the measured value of the bending thickness such that a deviation between an actual bending angle and a desired bending angle is reduced becomes. In this variant, therefore, a control circuit for the best possible achievement of the desired angle is built up. However, it is not necessary to change every N2011 / 37400 • · ♦ «« «* • *
Bending part to check for its actual bending angle. In principle, random measurements are sufficient to readjust the bending press initially or continuously. Finally, it is favorable, if the arrangement additionally comprises: at least two gripping elements in the gripper, at least one of which is rotatably mounted, a linear motor coupled to the at least one rotatable gripping element for moving the same, a measuring system for measuring a position of the linear motor and means for calculation a distance of the gripping elements, which indicates the thickness of a located in the gripper bending part, based on the position of the linear motor.
In this embodiment, at least one rotatably mounted gripping member (e.g., a jaw) is moved by a linear motor. This can be designed for example as a pneumatic cylinder, hydraulic cylinder or as a spindle drive. By the rotary joint, the linear movement of the linear motor is converted into a rotational or pivotal movement of the gripping element, whereby the gripper grabbing like a pair of tongs. Of course, the gripper may also have more than one rotatably mounted gripping element and of course the gripping elements can also be driven by more than one linear motor. With the help of a measuring system, the position of the unearmotor is determined. For example, a commercially available linear measuring system or, in the case of a spindle drive, an angle measuring system can also be used. By the coupling of the gripping element with the linear motor, the position of the gripping element is dependent on the position of the linear motor. From the position of the linear motor can thus be calculated a distance of the gripping elements, which indicates the thickness of a bending part located in the gripper. Due to the special design, the gripper can also be made relatively slim, so that the bending parts can be easily manipulated even in confined spaces. N2Ö11 / 37400 • 4 4 · «·
At this point, it is noted that the various embodiments of the method presented and the resulting advantages can be applied mutatis mutandis to the arrangement and vice versa.
For a better understanding of the invention, this will be explained in more detail with reference to the following figures. Show it:
1 shows a schematically illustrated arrangement with a bending press and a robot.
Fig. 2 shows an exemplary gripper of the robot in detail view and
Fig. 3 shows another exemplary gripper of the robot in detail view.
By way of introduction, it should be noted that in the differently described embodiments, the same parts are provided with the same reference numerals or the same component names, wherein the disclosures contained in the entire description can be mutatis mutandis to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual features or combinations of features from the illustrated and described different embodiments may represent for themselves, inventive or inventive solutions.
Fig. 1 shows a schematically illustrated arrangement with a bending press 1 for bending a bending part 2 and a robot 3, which is prepared for feeding the bending part 2 in the bending press 1 by means of a gripper 40.
In this example, the robot 3 removes an unbent bent part 2 from a stack 5 and places it in the bending press 2 with the aid of its gripper 40. By activating the hydraulic pump 6 and a valve 7, respectively, the hydraulic cylinders 8 are pressurized, whereupon the blade 9 moves downwards in the direction of the die 10. By controlling the pressing pressure and / or the travel N2011 / 37400 travel, the bending angle α can be influenced. For this purpose, the bending press 1 comprises a controller 11, which is connected to a pressure gauge 12, a linear measuring 13 and to the pump 6 and the valve 7 respectively. This makes it possible, in a manner known per se, to specify / regulate any desired pressure and travel for the blade 9 so as to achieve, if possible, a required set bending angle.
It should be noted that the terms "control" and "rules" are used synonymously unless otherwise specified. This means that instead of a controller, a control can be provided and vice versa, unless stated otherwise. It is advantageous if the bending part 2 bent along the bending line 14 is removed from the bending press 1 by means of the gripper 40 as shown in this example and deposited on a stack 15 or another transport means (for example conveyor belt). In this way, a fully automatic sequence results in the production of the bending part. 2
In order to keep the deviation between the actual bending angle α and the target bending angle as small as possible even with tolerance-induced variation of the thickness of the bent parts 2, the thickness of the bent part 2 is determined before bending with the aid of said gripper 40 and a pressing pressure and / or a travel path and / or a dependent parameter of the bending press 1 by the measured value of the bending thickness such that a deviation between an actual bending angle α and a target bending angle is reduced.
For this purpose, the gripper 40 comprises means for determining the thickness of the bent part 2 (see in detail the Fig. 2), and the arrangement shown comprises means for transmitting a measured value of the bending thickness of the robot 3 to the bending press 1, specifically to the controller 11 (see dashed line). Furthermore, the controller 11 for influencing the pressing pressure and / or the travel path and / or a parameter dependent thereon of the bending press 1 by the N2011 / 37400 is the same. *** "" * · · · · «*» ·· · 0 · * lt · «·« »· *
Measurement of the Biegeteiidicke is set such that a deviation between an actual bending angle α and a target bending angle is reduced.
Specifically, the thickness of the bending part 2 is thus determined by the gripper 40 before the bending part 2 is bent by means of the bending press 1. This reading is communicated to the controller 11 (e.g., by wire or radio), which in this example adjusts the pressing pressure and travel according to the determined bending thickness and target bending angle to be achieved. In particular, the pressing pressure is increased with increasing measured value for the bending thickness, the travel is shortened accordingly.
By said measure, a number of bending parts 2 can be produced with substantially the same actual bending angle α, even if their thickness varies. Bending is therefore not necessary or only in exceptional cases. Also, a follow-up of each bending part 2 can be omitted without risking disruptions in a fully automatic production process.
Despite the influence of the bending press 1 with the measured value of the bending thickness, it is favorable if the deviation of the actual angle α of the bent bending part 2 from the desired angle is determined and the influence of the bending press 1 is adapted by the measured value of the bending thickness such that a deviation between an actual bending angle α and a desired bending angle is reduced. In particular, the pressing pressure is increased if the actual bending angle α is too low for the bending parts 2 to be produced in the future, and the travel length is extended accordingly. As a result, the bending press 1 is continuously readjusted. In principle, random measurements are sufficient, so that the production process is only slightly disturbed.
Fig. 2 now shows a gripper 41 in detail, although in turn in a schematic representation. The gripper 41 comprises a fixed gripping element (a fixed gripping jaw) 16 and a movable gripping element (a movable jaw) 17 which is rotatably mounted about a pivot point 18. Furthermore, the gripper 41 comprises a linear motor 19, which is coupled to the movable jaw 17 and moves it. Furthermore, the gripper 41 comprises a linear measuring system 20 for measuring a position of the linear motor 19. By means of the rotary joint 18, the N2011 / 37400 is • • • ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• * * »· Ft« • • * * * • • tt * * ♦ · * # ·· »linear movement of the linear motor 19 in a rotary or pivotal movement of the jaw 17 is converted, whereby the gripper 41 grabbing tongs. By the coupling of the gripper jaw 17 with the linear motor 19, the position of the jaw 17 is dependent on the position of the linear motor 19. From the position of the linear motor 19 can thus be calculated, the distance of the jaws 16,17, which is the thickness of the gripper 41 located Bending 2 marks or corresponds to this. Due to the special design of the gripper 41 is relatively slim, so that bending parts 2 can be easily manipulated even in confined spaces. It is advantageous if the bending thickness is determined at a predeterminable gripping force or a specifiable gripping pressure. As a result, reproducible measurement results for the bending thickness can be achieved, since the deformation of the bending part 2 by the gripping gripper 41 and also the deformation of the gripper 41 itself are always substantially the same. It is also conceivable that the determination of the bending thickness is determined at any gripping force and from the deformations occurring a correction value for the bending thickness is determined. These deformations can be calculated, for example, or determined empirically.
If the linear motor 19 is designed as a pneumatic cylinder or hydraulic cylinder, the pressure in the cylinder can be determined. If the linear motor 19 is designed as a spindle drive, then, for example, the current consumption of the motor can be used to calculate the gripping force. In general, force sensors can also be installed in the gripping elements 16, 17 (for example piezo pressure sensors or strain gauges) in order to be able to determine the holding forces occurring in the gripper 41.
In the illustrated gripper 41, the thickness of the bending part 2 is calculated based on the relative position of the gripping jaws 16, 17 to each other. The angular position of the gripping jaws 16, 17 with respect to one another provides information about how thick the bending part 2 positioned between the gripping jaws 16, 17 is. It would also be conceivable, however, for the bending thickness to be determined from the relative position of the gripping jaws 16, 17..... It is directly determined, ie measured. Fig. 3 shows a variant of a gripper 42, in which the gripping jaw 17 is slidably mounted. With the help of a length measuring system between the gripping jaws 16, 17, the distance between them to one another and thus the thickness of the bending part 2 located in the gripper 42 can be measured directly.
It is advantageous if the thickness of the bending part 2 is determined at that gripping thereof, which serves for feeding the bending part 2 into the bending press 1. In the present example, the bent part 2 is thus taken from the stack 5 and inserted into the bending press 1. Before bending, the bending thickness is determined in the manner previously indicated. This process is very efficient, since by measuring the bending thickness practically no loss of time during the production of a bent part 2 is formed. In particular, the bending thickness during the feeding movement of the robot 3 can be measured. Thus, the method can be well integrated into existing systems, since the workflow with respect to the manipulation of the bending part 2 does not change.
In a preferred embodiment, the measurement of the bending thickness without the bending part 2 is raised in order to avoid a falsification of the measurement result by the load on the gripping elements 16,17. Concretely, this could be done in the present example before lifting the bending part 2 from the stack 5 or after placing it in the bending press 1. This avoids that the gripper 40..42 is widened by the tilting moment of the bent part 2 or the resulting accelerations during the manipulation and the measurement result is falsified.
Alternatively, it is also conceivable that the bent part 2 is stored unilaterally during measurement. For example, during the measurement, the bent part 2 in FIG. 1 can rest against the stack 5 at its trailing edge in order to at least reduce a falsification of the measurement result.
In order to further increase the accuracy of the determined measured value, the deformation of the gripper 40... 42 can furthermore be determined and used for the correction of the measured value for the bending thickness. The aforesaid deformations are N2011 / 37400 ♦ • · · * * # # · · · # II II II II II II II II II II II II II II II II II II II It can be determined directly, for example by means of strain gauges, or calculated by the holding force.
In general, it is advantageous if the bending thickness is determined on or in the region of the bending unit 14. As a result, the bending of the bending part 2 can be particularly accurate, since its thickness is determined at the position at which it is bent later.
Depending on the design of the robot 3, the bending press 2 or depending on the arrangement of the delivery area (stack 5) and the removal area (stack 15), it may be difficult or even impossible, the bending thickness when feeding the bending part 2 in the bending press 1 or in the area of the bending line 14 to determine. It is therefore also advantageous if the bending thickness is determined with its own "measuring handle, which serves only to determine the thickness mentioned, in the present example, this can be realized by the robot 3, the bending part 2 on the stack 5 side of the bending line 14 takes and determines the bending thickness. Thereafter, the bending part 2 is grasped at its front edge and inserted into the bending press 2. It would also be conceivable, however, that this "measuring grip takes place after being deposited in the bending press 1. For example, the bent part 2 can in turn be packed at its front edge and inserted into the bending press 1, whereupon the robot 3 lets go of the bent part 2 and misses on its side edge. It would also be conceivable that the bending part 2 is initially only a little pushed into the bending press 1, so that access to the bending line 14 remains free. Only after measuring this is pushed into the bending position. Of course, also applies to this variant that the measurement is preferably carried out without the bending part 2 (completely) raise, or that the deformation of the bending part 2 and / or the gripper 40..42 is taken into account in determining the bending thickness.
The exemplary embodiments show possible embodiments of an arrangement according to the invention or of a gripper 40 .42 according to the invention, it being noted at this point that the invention is not limited to the specifically illustrated embodiments, but rather also N2011 / 37400 Φ Φ Φ Φ ΦΦΦΦ • φ φ φ φ φφφ φ φ "" φ ·· + 1¾ φ φ φ φ φΦ 44 ΦΦΦ different combinations of the individual variants are possible with each other and this possibility of variation due to the teaching of technical action by objective invention in the skill of those working in this technical field lies. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.
It should be noted at this point that the grippers 40... 42 shown in FIGS. 2 and 3 are drawn purely schematically and represent merely illustrative examples. Of course, a gripper may also have more than one movable gripping element and of course the gripping elements can also be driven by more than one linear motor.
The arrangement shown in FIG. 1 is also shown very schematically. Again, these may in reality include more or fewer components than shown.
For the sake of order, it should finally be pointed out that the components shown in the figures have been shown partly unevenly and / or enlarged and / or reduced in size for a better understanding of their structure.
The task underlying the independent inventive solutions can be taken from the description. N2011 / 37400 ♦ · ♦ · ♦ · · «« · · · · ♦ · · # 4f φ · * · · · «4 I · -Ί
LIST OF REFERENCES 1 Bending press 2 Bending part 3 Robots 40..42 Grippers 5 Stacks of unbent bent parts 6 Pump 7 Valve 8 Hydraulic cylinder 9 Flexural force 10 Bending die 11 Control 12 Pressure gauge 13 Linear measuring system 14 Bending line 15 Stacks of bent bending parts 16 Fixed gripping jaw 17 Moving gripping jaw 18 Swivel joint 19 Linear motor 20 Linear measuring system α is bending twine! N2011 / 37400

权利要求:
Claims (10)
[1]
1. A method for producing a bent part (2) by means of a bending press (1), comprising the steps of: feeding the bent part (2) into the bending press (1) Help of a gripper (40..42) of a robot (3) and bending of the bending part (2) by operating the bending press (1), characterized in that the thickness of the bent part (2) before bending by means of said gripper (40 ..42) is determined and a pressing pressure and / or a travel path and / or a dependent parameter of the bending press (1) is influenced in bending by the measured value of the bending thickness such that a deviation between an actual bending angle (a) and a target Bending angle is reduced.
[2]
2. The method according to claim 1, characterized in that the pressing pressure / the travel is increased / shortened with increasing measured value for the bending thickness.
[3]
3. The method according to claim 1 or 2, characterized in that the bending thickness from the relative position of gripping elements (16,17) of the gripper (40..42) to each other directly determined or calculated.
[4]
4. The method according to any one of claims 1 to 3, characterized in that the bending thickness is determined at a predetermined gripping force or a vorgebba-ren gripping pressure.
[5]
5. The method according to any one of claims 1 to 4, characterized in that the thickness of the bent part (2) is determined in that gripping thereof, which serves for supplying the bending part (2) in the bending press (1). N2011 / 37400 ·· »··»

• «t ·» · * * * »41 M44
[6]
6. The method according to any one of claims 1 to 4, characterized in that the bending thickness is determined in a handle, which only serves to determine the said thickness.
[7]
7. The method according to any one of claims 1 to 6, characterized in that the bending thickness is determined on or in the region of a bending line (14).
[8]
8. The method according to any one of claims 1 to 7, characterized in that the deviation of the actual angle (a) of the bent bent part (2) determined from the desired angle and the influence of the bending press (1) adapted by the measured value of the bending thickness such is that a deviation between an actual bending angle (a) and a target bending angle is reduced.
[9]
9. Arrangement, comprising a bending press (1) for bending a bent part (2) and a robot (3), which prepares for feeding the bending part (2) in the bending press (1) by means of a gripper (40..42) characterized in that the gripper (40..42) comprises means (20) for determining the thickness of the bending part (2), the arrangement comprising means for transmitting a measured value of the bending thickness of the robot (3) to the bending press (1) and the bending press (1) comprises a controller (11), which is set up to influence a pressing pressure and / or a travel distance and / or a parameter dependent thereon of the bending press (1) during bending by the measured value of the bending thickness such that a Deviation between an actual bending angle (a) and a desired bending angle is reduced.
[10]
10. Arrangement according to claim 9, characterized by at least two gripping elements (16, 17) in the gripper (40..42), of which at least one is rotatably mounted, one with the at least one rotatable gripping element (17) gekop- N2011 / 37400 • ················································································································································································································································ 4 44 4 44 4 * linear motor (19) for moving the same, a measuring system (20) for measuring a position of the linear motor (19) and means for calculating a distance of the gripping elements (16,17), the thickness of a in the gripper ( 40..42) located bending part (2), based on the position of the linear motor (19). TRUMPF Maschinen Austria GmbH & Co. KG. by attorneys BorgÄreT Partner RechtsanwaltiGmbH N2011 / 37400

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CN104942056A|2015-06-23|2015-09-30|苏州边桐传感科技有限公司|Bending device based on positioning and clamping control and feedback control|

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CN104942057A|2015-06-23|2015-09-30|苏州边桐传感科技有限公司|Bending processing system based on crack detection and feedback and clamping control|

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CN104942081A|2015-06-26|2015-09-30|苏州边桐传感科技有限公司|Staged bending and grinding-pressing type bending device and method|

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CN104959417A|2015-06-26|2015-10-07|苏州边桐传感科技有限公司|Metal plate bending system and method based on staged bending and feedback torque control|

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CN113680871B|2021-10-20|2021-12-31|江苏伊凯医疗器械有限公司|Clamp for machining of precise medical equipment|

法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA1155/2012A|AT512892B1|2012-10-25|2012-10-25|Arrangement with a bending press and a robot and method for producing a bent part|ATA1155/2012A| AT512892B1|2012-10-25|2012-10-25|Arrangement with a bending press and a robot and method for producing a bent part|

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EP13190282.7A| EP2724795B1|2012-10-25|2013-10-25|Assembly with a bending press and a robot and method for producing a bent component|