• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In order to minimize the time for the passage of a workpiece at a Smith forging or in a forging forging, the removal of the workpiece from a furnace and its alignment takes place in a forging position by a task robot, which gives the workpiece of a Freiformschmiede, and the transfer and orientation of the workpiece after the Smith forging by a unloading robot, which passes the workpiece to a post-processing machine oriented accordingly.
    公开号:AT516345A2
    申请号:T609/2015
    申请日:2015-09-17
    公开日:2016-04-15
    发明作者:
    申请人:Sms Meer Gmbh；
    IPC主号:
    专利说明:

    Open-die forging plant and free-form forging process [01] The invention relates to a forging-forging plant and to a forging-forging process.
    As such, such open-die forging and open-die forging techniques each include an open-die forge, an open-die forging furnace, such as a rotary kiln, and a post-forming forging machine, such as a marking and / or cutting device, through which any workpieces are separated, split, or butched after open-die forging can be freed from workpiece ends or through which workpieces can be labeled or marked for free form for documentation purposes. Further, as downstream post-processing machines, there are mentioned heat-treatment furnaces and the like.
    [03] Here it is obvious that a workpiece to be forged must be removed from the furnace prior to the forging and set in a forging position. After forging, the workpiece must be passed to the finishing machine, for which it is oriented to a transfer position.
    In the case of open-die forging, a distinction is made, in particular, between open-die forging presses and open-die forging machines, with the rule that a single-edge forging press has only one moving tool, namely a punch. This tool usually acts in a vertical direction on the workpiece to be forged, which in turn is supported on a forged caliper. At a
    On the other hand, open-die forging machines act on a number of tools, in particular possibly also simultaneously. In certain embodiments, such as a radial forging or radial forging machine, the workpiece may be completely enclosed by the tool. In a free-form forging machine, the tools usually all work as punches and it does not need a separate forging saddle. Such a open-die forging machine usually eliminates widening of the workpiece during forging and the unshaped workpiece flows only in the longitudinal direction, which tools completely enclose the workpiece completely. Also at
    Forging presses, it is conceivable that the workpiece is completely enclosed by W'erkzeugen, which can serve a die usually for this purpose. Accordingly, DE 31 48652 A1, DE 10 2004 035 797 B3 and SU 733 843, which disclose drop forging presses and which are not generic, disclose arrangements in which robots are used, but these are not effective in aligning to the extent necessary for flattening, and also not directly transfer workpieces from a furnace removal or aligning. Often, such a die encloses the workpiece together with the forging dies entirely, while - as already explained above - in the case of open-die forging machines the workpiece normally remains free in the longitudinal direction and if necessary held on one side or on both sides by loading manipulators or unloading manipulators and displaced in the longitudinal direction as required is also rotated.
    [05] Depending on the specific design, in particular in the case of hydraulic planforming forging machines, reshaping can be achieved over the entire cross section, that is to say into the core. As a result, a Smith forging machine is usually much faster and thus more productive than a Smith forging press, which also understands that there are also mixed forms, which are provided for example in open-die forging press more stamp than tools that perform, for example, from the side holes, which also very large transformations can be achieved.
    [06] It is an object of the present invention to develop a free-form forging or a forging of the generic type such that the time for the passage of a workpiece is minimized.
    [07] The object of the invention is achieved by a forging-forging system or by a forging-forging method having the features of the independent claims. Further, if appropriate also independent thereof, advantageous embodiments can be found in the subclaims and the following description.
    [08] Thus, the time taken to pass a workpiece in a forging mill that includes a forging mill, an open-die forging furnace and a post-forming machine downstream of the forging mill, and means for removing workpieces from the furnace, means for directing the removed workpieces to a forging position, means for transferring of the workpieces on the post-processing machine and means for orienting the workpieces into a relaying position can be minimized by the fact that the open-die forging installation comprises a loading robot comprising the removal means and the alignment means and an unloading robot comprising the transfer means and the orientation means.
    Similarly, the time for the passage of a workpiece at a
    An open-die forging process in which a workpiece to be forged is removed from a furnace and forged to a forging position, forged into a blanket mill, and the forged workpiece is postformed to a transfer position and passed to a post-processing machine, thereby minimizing removal and alignment a task robot and the passing and orientation by a unloading robot takes place. ]] The removal and the alignment by a component, namely the
    Task robot, which then displays the unloading means and the aligning means accordingly, and passing and orientation through a component, namely the unloading robot. Accordingly, the delivery means and the Orientiermittel represents, the number of components, which are respectively provided on the supply side and discharge side can be reduced. In particular, then any roller coasters, possibly also loading and unloading or separate turntables to change the position in forging positions. Transfer positions into account, since they can be done by the respective component accordingly together. Depending on the specific problem situation in the prior art, this also eliminates any coordination problems between the components, so that the corresponding processes can also be carried out much more quickly. In particular, the risk of one of the many components used in prior art open-die forging equipment, such as roller conveyors or the like, also minimizing the risk of fewer components being used.
    [11] The furnace used may be any furnace suitable for open-die forging and, in particular, capable of heating workpieces to the temperatures necessary for the forging mill. In particular, turntable ovens or turntable ovens known per se are suitable for this purpose.
    [12] Depending on the specific workpiece, different finishing machines may be provided on the open-die forging machine, such as marking and / or separating devices, deburring devices, [13] Preferably, the feeding and unloading robots are separately formed from a mechanical engineering standpoint. This firstly has the advantage that each of the robots can work individually at the same time, which would not be possible with the use of only a single robot both as a task and unloading robot, so that the former enables a much faster throughput of workpieces. In addition, the separate mechanical design allows the two robots to be separated accordingly and in their own
    Positions optimally on ge, ..... can be, so as to the by the robots to -............ traversing paths - and thus the time that a workpiece for the corresponding run needs - to minimize.
    [14] In particular, the task and / or the unloading robot can each have exactly one Drehfuß, so that the robot can be directly formed accordingly mechanical engineering separate, since a common building fixed Drehfußmaschinenbaulich is very expensive and corresponding freedom not possible with respect to the position of the two robots. Depending on the specific implementation of this Drehfußgebäudefest trained or even, for example, on rails or on a separate turntable, be designed to be displaced. The latter solution proves to be advantageous, for example, when the robot is to serve as a loading device for a furnace with separate loading and unloading.
    [15] Preferably, the task and the unloading robot are of identical construction.
    This makes it possible to minimize set-up and downtimes, since it is then much cheaper to keep spare parts ready on site or even maintain a third robot as a reserve. This allows correspondingly shorter maintenance times and with a larger throughput of workpieces.
    [16] Preferably, the task and / or the unloading robot are designed as articulated arm robots, whereby the corresponding robot is very free in its movements and thus can be easily adapted to these differences, especially when using different workpieces to be machined, so that, for example, different forging positions for the different workpieces or also different removal positions, which the unloading robot then has to move to within the open-die forging with respect to the workpiece, can be realized quickly and reliably by reprogramming the computer programmer which sets up the robot.
    [17] As already explained above, the task robot and / or the unloading robot preferably each have precisely one swivel foot, which is frequently to be found, in particular, in particular with articulated-arm robots. This swivel foot can be provided in particular building firm. However, in some instances, a moveable position of the rotary foot, such as on rails or on a turntable, relative to the building in which the open-die forging is provided, may prove advantageous to accommodate this robotic use expand · ........ and - also, ovens'-stepped to load and unload different loading and unloading.
    [18] If the task and / or unloading robot has a workpiece-engaging effector which can be displaced both in at least three dimensions and rotated about three axes, correspondingly different movement sequences can be quickly converted, which, in addition to the mechanical advantages already mentioned, also has corresponding advantages in terms of the Conception of such a forging equipment has since ultimately very different spatial conditions with identical robots can be considered constructively by ultimately only the movements of these robots are adapted accordingly.
    [19] Freedom of movement in the use of robots also makes it possible for a forging mill to allocate several ovens and / or rework machines, each located within the detection area of the corresponding robot, so that suitable ovens or reworking machines are available for the workpieces with changing types of workpieces. without that separately elaborate mechanical engineering measures or retooling activities must be vorgcnommen, since the corresponding robot needs only be controlled differently.
    Preferably, as task and / or unloading robots are selected, which can be accurately positioned to ± 5 mm. For the movements of movements that occur during open-die forging, and in particular during the forging of large workpieces, such as in the case of free-form forging railway axles or also ship shafts or other drive shafts, a robot can easily replace the previous removal, alignment, passing or orientation means, thereby saving time accordingly. without having to use further, a more precise positioning serving means. This is especially true if the task and / or the unloading robot can be positioned exactly to + 2mm.
    The task and / or the unloading robot can be hydraulically or elektro¬ motor driven, which can be readily selected according to the mechanical engineering specifications in the respective concrete open-die forging process or in the respective concrete mold forging. In particular, however, hydraulic drive are preferred as this meets the requirements for freeform forging. in radial forging, especially in free-form or radial forging of shafts; -for example, from-Etsenbahnachsenram soon taken care of kairfr .................................
    [22] Depending on the specific design of the open-die forge, this one can
    Beliebanipulator and have a Entlademanipulator which lead the workpiece during the Forming, which can be provided especially in open-die forging machines, but possibly also in special cases in open-die forging. Preferably, the loading manipulator and the Entlademanipulator are synchronized with each other and can in particular the workpiece reversing by the
    Freiformschmiede, especially by the open-die forging machine lead. In this case, it is particularly conceivable that the workpiece is not only displaced axially during the guiding but also rotated about the longitudinal axis. Although it is conceivable that in special embodiments, this guidance of the workpiece through the open-die forging is performed by the task robot and / or by the unloader robot. Depending on the concrete plant construction or depending on the concrete open-die forging process, however, it has proved to be advantageous to adhere to the concept of loading manipulators and unloading manipulators, since these are already sufficiently well known and their advantages are tested, so that these boundary conditions occurring also during open-die forging, ie in particular the forces occurring and the during can suffice satisfactorily for the movement of forging. On the other hand, it is advantageous if the task robot gives the workpiece to be forged in the forging position to the loading manipulator and the unloading robot passes on the forged workpiece from the unloading manipulator to the post-processing machine, since then the task and transfer with the already explained advantages can be carried out with minimized expenditure of time.
    [23] As already indicated above, the task robot and / or the unloader robot can hold the workpiece during open-die forging, which then allows for a load manipulator. Preferably, the task robot and the unloader robot are then synchronized with each other and, in particular, the workpiece reversing by the Formschmschmiede, in particular by the open-die forging machine lead. In this case, it is also conceivable, in particular, for the workpiece not only to be axially displaced during guiding, but also to be rotated about the longitudinal axis, which is advantageous in particular in the case of radial forging. Preferably, a transfer of the workpiece from the task robot also unloading robot, which can be done in particular during the forging process, when the workpiece itself is positioned by the forging dies itself.
    It is understood that it is also conceivable that the task robot can give up the work piece of the open-die forge, for example by placing it on a saddle of the free-form forging and then no longer coming into contact with the workpiece while the unloading robot then moves the workpiece after the work or for the form of forging. If the workpiece then has to be displaced into position during the forging process, this can be done by either the task robot or the unloader robot, which preferably depends on the extent to which these robots are currently free at these times.
    [25] If a workpiece supply is provided in the work area of the task robot, a separate loading device for the furnace can be omitted, since the loading of the workpiece supply, which can be for example a suitable table or also a roller conveyor or possibly also a basket or a chute , The workpieces by the task robot immediately give the oven and these can be removed after heating. Accordingly, in a forging forging method, it is advantageous if the task robot also loads workpieces with the furnace, resulting in a structural simplification regardless of how the workpieces are provided.
    The above-described arrangements or methods are particularly suitable for radial forging, in particular for radial forging machine or a radial forging press, in which the robots, for example together or alone, hold and optionally rotate the respective workpiece and position it axially with respect to the radial forge or in which the robots for example, with loading and unloading manipulators cooperating and giving up or accepting the workpieces and then passing them on.
    [27] In particular, with the arrangements or methods described above, waves, preferably stepped waves, such as, for example, the railway axis or
    Shafts are forged at minimized lead time compared to conventional forging such workpieces.
    [28] It should be understood that the features of the solutions described above or in the claims may, if appropriate, also be combined in order to be able to implement the benefits in a cumulative manner. Further advantages, objects and features of the present invention will be elucidated on the basis of the following description of exemplary embodiments, which are also illustrated in particular in the attached drawing. In the drawing show:
    1 shows a first open-die forging plant in a schematic plan view; and Figure 2 shows a second open-die forging plant in a schematic plan view.
    [30] The open-die forging apparatus 1 shown in Fig. 1 comprises a planishing mill 2, a furnace 3 formed as a rotary kiln 4, and a post-processing machine 5 equipped with a saw 7 as a marking and separating device 6, and forged workpieces 8 with a coding for documentation purposes and as intended. Depending on the concrete workpieces here workpieces can be separated into several parts, especially if, for example, workpieces are double-use or otherwise used as multi-use, oraber can be freed from end pieces. It is also possible to perform a defined sampling.
    [31] The open-die forging plant 1 further comprises extraction means 9 for taking out workpieces 8 from the furnace 3 and alignment means 10 by means of which the workpieces 8 can be aligned in a forging position so that they can be forged in the formwork forge 2.
    [32] Furthermore, the open-die forging plant 1 comprises relaying means 11, by means of which the workpieces 8 can be forwarded from the open-die forge 2 to the finishing machine 5. In this case, orientation means 12 are also provided, which ensure that the forwarding is carried out by the relaying means 11 in such a way that the post-processing machine 5 can easily carry out the post-processing.
    In this case, in the exemplary embodiment illustrated in FIG. 1, the removal means 9 and the alignment means 10 are represented by a task robot 13.
    [34] Moreover, in the embodiment of Fig. 1, the relaying means 11 and the orienting means 12 are shown by an unloading robot 14.
    The robots 13, 14 are each provided with a swivel base 16 and with a radially expandable and contractible arm, which is also displaceable in height (not shown by arrows). Again, an effector 17, which in this embodiment is designed as a pair of pliers, is rotatable about three axes, whereby in this case also a rotation about only two or even only about one axis may be sufficient in different embodiments, in particular possibly in connection with FIG It will be appreciated that hooks, chucks, or the like may be used as the effector 17 in other embodiments, for example, as far as it appears appropriate to the respective workpieces 8.
    As can be seen immediately, the two robots 13, 14 are each provided with exactly one building-fixed swivel foot 16 and formed separately in terms of mechanical engineering. Moreover, the two robots 13, 14 are identical in construction in this embodiment and can accurately position the workpieces 8 to ± 2 mm or less each. Depending on the concrete implementation of this Auführungsbeispiels the robots 13, 14 may be hydraulically or electromotively driven, wherein in the present concrete implementation of a hydraulic drive is preferred, which can best account for the conditions in a Freiformschmiede and in particular the forces occurring there.
    In addition, the open-die forging plant 1 has a loading device 22 designed as a roller conveyor, by means of which the furnace 3 can be loaded with workpieces 8.
    [38] In the embodiment shown in FIG. 1, the two robots 13, 14 can hold the workpiece 8 individually or jointly during the open-die forging, if this is advantageous for the open-die forging operation. A transfer may also take place while the open-die forge 2 acts on the workpiece 8 and the workpiece 8 is held by the scraping forge 2.
    The open-die forging 2 of the open-die forging system 1 shown in FIG. 2 is likewise designed as a free-form forging machine 20 and comprises a loading manipulator 18 and an unloading manipulator 19 which in this embodiment guide the respective workpieces reversibly through the open-die forge 2.
    Moreover, in this embodiment, over the
    Embodiment of Figure 1 has been dispensed to a separate loading device 22 for the furnace 3, wherein the task robot 13 workpieces 8 of a
    Workpiece supply 23, which is formed in this embodiment as a table on which the workpieces are formed, in the furnace 3 loads. Consequently, the task robot 13 also serves as a loading device 22.
    [41] Moreover, in this embodiment, the two robots 13, 14 are in the form of articulated-arm robots 15, so that in this way the effector 17 of the robots 13, 14 is translationally displaceable in three dimensions. Also in this embodiment, the effector 3 is rotatable about three axes as a whole, being rotatably mounted only about an axis on the arm of the articulated-arm robot 15, and the other axes are represented by the articulated-arm robot 15 itself. If, in a concrete embodiment of the furnaces 3, there are separate loading and unloading openings, it may be advantageous to displace a foot of the articulated arm robot 15, for example displaceable on rails, so that the task robot 13 can still serve as a loading device 22.
    [42] Accordingly, the task robot 13 comprises the removal means 9 and alignment means 10, by means of which workpiece 8 can be removed from the furnace 3 designed as a rotary kiln 4 and fed into a forging position to the loading manipulator 18, and the loading device 22.
    [43] The unloading robot 14, on the other hand, comprises the relaying means 11 and the locating means 12 which allow for an oriented transfer of the workpieces 8 from the unloading manipulator 19 to the finishing machine 5, which in this embodiment also comprises a marking and separating device 6 with a saw 7.
    Also in the embodiment shown in Figure 2, the two Roboter13, 14 are formed mechanically separate and each have a building-firm swivel base (not shown in the drawing), as is common in Gelenkarmrobotem 15 itself.
    [45] Moreover, in this embodiment, the robots 13, 14 are accurately positionable to ± 2mm or less and are hydraulically driven, or possibly also electromotive.
    [461 It is understood that the examples shown in the exemplary embodiments
    If necessary, robots 13, 14 may be replaced by other robot generators or, in particular, may also be used correspondingly in each case in two other exemplary embodiments. It is also the case that the open-die forging 2 can possibly also have a different construction, which also applies to the furnaces 3 and the post-processing machines 5.
    [47J Since the robots 13, 14 are identical in each case in both exemplary embodiments, .................... it is easily possible to keep a robot in reserve from a mechanical engineering point of view in order to avoid any problems to be able to quickly make a replacement in case of failures. In this way, downtime can be minimized, because then only the preprogrammed motion sequences must be transferred to the new robot.
    LIST OF REFERENCES: 1 open-die forging station 13 task robot 2 open-die forging 14 unloading robot 3 furnace 15 articulated robot 4 rotary kiln 16 rotary base 5 finishing machine 17 effector (numbered as an example) 6 marking and separating device 18 loading manipulator 7 saw 20 19 unloading manipulator 8 workpiece 20 forging forging 9 removal device 21 forging forging machine 10 alignment means 22 Loading device 11 Releasing means 23 Workpiece supply 12 Orienting means
    权利要求:
    Claims (26)
    [1]
    Claims 1. An open-die forging plant (1) comprising an open-die forge (2), a furnace (3) upstream of the mold (2), preferably a rotary kiln (4), and a post-processing machine (5) downstream of the open-die forge (2), such as a marker - and / or separating device (6), and means (9) for removing workpieces (8) from the furnace (3), means (10) for aligning the removed workpieces (8) in a forging position, means (11) for passing on the workpieces ( 8) to the finishing machine (5) and means (12) for orienting the workpieces (5) in a transfer position, characterized in that the forging machine (1) comprises a loading robot (13) comprising the removal means (9) and the aligning means (10) the transfer means (II) and the orientation means (12) comprising Fintladeroboter (14).
    [2]
    2. Open-die forging plant according to claim 1, characterized in that a workpiece supply (23) is provided in the working area of the task robot (13).
    [3]
    3. open-die forging plant according to claim 1 or 2, characterized in that the task and the unloading robot (13, 14) are formed separately from a mechanical engineering.
    [4]
    4. open-die forging plant according to one of claims 1 to 3, characterized in that the task and the unloading robot (13, 14) are identical.
    [5]
    5. open-die forging plant according to one of claims 1 to 4, characterized in that the task and / or the unloading robot (13, 14) are designed as Gelenkarmroboter (15)
    [6]
    6. open-die forging plant according to one of claims 1 to 5, characterized in that the task and / or the unloading robot (13, 14) each have exactly one building fixed swivel foot (16).
    [7]
    7. open-die forging plant according to one of claims 1 to 6, characterized in that the task and / or the unloading robot (13, 14) a workpieces (8) cross-effector (17) trans¬ latorisch displaceable in at least three dimensions as well as being rotatable about three axes.
    [8]
    8. open-die forging plant according to one of claims 1 to 7, characterized in that the task and / or the unloading robot (13, 14) to ± 2 mm, preferably to ± 1.5 mm, are precisely positioned.
    [9]
    9. open-die forging plant according to one of claims 1 to 8, characterized in that the task and / or the unloading robot (13, 14) are driven hydraulically or electromotively.
    [10]
    10. open-die forging plant according to one of claims 1 to 9, characterized in that the Freiformschmiede (2) a loading manipulator (18) and a Entlademanipulator (19), which are preferably synchronized with each other and optionally not only the workpiece (8) axially displaced but also around the longitudinal axis thereof, and the loading robot (13) places the forging position (8) in the forging position on the loading manipulator (18) and the unloading robot (14) orients the forged workpiece (8) from the unloading manipulator (19) to the finishing machine (5) passes.
    [11]
    11. open-die forging plant according to one of claims 1 to 9, characterized in that the task robot (13) and the unloading robot (14) hold the workpiece (8) during the open-die forging and preferably from the task robot (13) to the unloading robot (14) and / / or possibly the workpiece (8) not only axialverlagern but also rotate about its longitudinal axis.
    [12]
    12. Open-die forging plant according to one of claims 1 to 11, characterized in that the open-die forge (2) is a free-form forging machine (20) or a smoothing-forging press (21), preferably a radial forging machine or a radial forging press.
    [13]
    13. open-die forging plant according to one of claims 1 to 12, characterized in that the workpiece (8) is a shaft, preferably a stepped shaft, such as a railway axle.
    [14]
    A freeform seeding method in which a free-forging workpiece (8) is removed from a furnace (3) and forged to a forging position, forged in a forging (2), and the forged workpiece (8) is oriented to a transfer position after forging and to a post-processing machine (5), characterized in that the removal and the alignment by a task robot -...........-.................... ..... (13) and the transfer and orientation by a Fmtladcroboter (14) takes place. -...............-............-.................... ....-............
    [15]
    A freeform seeding method according to claim 14, characterized in that the task robot (13) loads the furnace (3) with workpieces (8).
    [16]
    A freeform seeding method according to claim 14 or 15, characterized in that the loading and unloading robots (13, 14) are machine-formed separately.
    [17]
    17. Freiformsehmiedeverfahren according to one of claims 14 to 16, characterized in that the task and the unloading robot (13, 14) are identical.
    [18]
    18. Freiformsehmiedeverfahren according to one of claims 14 to 17, characterized in that the task and / or the unloading robot (13, 14) as articulated armroboler (15) are ausgebildel
    [19]
    19. freeform seeding method according to any one of claims 14 to 18, characterized in that the task and / or the unloading robot (13, 14) exactly each have a building fixed swivel foot (16).
    [20]
    A freeform seeding method according to any one of claims 14 to 19, characterized in that the feed and / or unloader robots (13, 14) comprise a workpiece (8) effector (17) translatable both in at least three dimensions and three Axes is rotatable.
    [21]
    21. Freiformsehmiedeverfahren according to one of claims 14 to 20, characterized in that the task and / or the unloading robot (13, 14) to ± 2 mm, preferably to ± 1.5 mm, are precisely positioned.
    [22]
    22. open-die forging method according to one of claims 14 to 21, characterized in that the task and / or the unloading robot (13, 14) are driven hydraulically or by electric motor.
    [23]
    23. open-die forging method according to one of claims 14 to 22, characterized in that the open-die forge (2) a loading manipulator (18) and _________ a Entlademanipulator (19), which are preferably synchronized with each other and ----------- ---------- possibly not only axially displace the workpiece (8) but also around its Längsachsedrehen includes, and the task robot (13) the forging workpiece (8) in the forging position the loading manipulator (18) gives up and the unloading robot (14) forwards the forged workpiece (8) from the unloading manipulator (19) to the finishing machine (5).
    [24]
    24. A forging method according to any of claims 14 to 22, characterized in that the loading robot (13) and the unloading robot (14) hold the workpiece (8) during the forging and preferably transfer it from the loading robot (13) to the unloading robot (14) and / or possibly not only axially displacing the workpiece (8) but also rotating about its longitudinal axis.
    [25]
    25. Open-die forging method according to one of claims 14 to 24, characterized in that the open-die forge (2) is a free-form forging machine (20) or an open-die forging press (21), preferably a radial forging machine or a radial forging press.
    [26]
    26. A forging method according to any one of claims 14 to 25, characterized in that the workpiece (8) is a shaft, preferably a stepped shaft, such as a railway axle.
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    同族专利:
    公开号 | 公开日
    DE102014014404A1|2016-04-07|
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    DE102014014404B4|2019-12-19|
    AT516345A3|2019-08-15|
    ITUB20153833A1|2017-03-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3976204A|1975-03-10|1976-08-24|Gkn Forgings Limited|Mechanical handling apparatus|
    SU733843A1|1977-04-01|1980-05-15|за вители|Automatic swaging line|
    IT1129497B|1980-12-29|1986-06-04|Teksid Spa|AUTOMATIC SYSTEM FOR HOT MOLDING AND DEBURRING OF METAL PARTS|
    DE102004035797B9|2004-07-23|2006-07-13|Langenstein & Schemann Gmbh|Method and device for transferring a workpiece|AT522991B1|2019-10-10|2022-02-15|Trumpf Maschinen Austria Gmbh & Co Kg|Process for transporting and/or handling components|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014014404.6A|DE102014014404B4|2014-10-02|2014-10-02|Open die forging plant and open die forging process|
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