EP0136598A2 - Dispositif pour la manipulation de feuilles de tôle - Google Patents

Dispositif pour la manipulation de feuilles de tôle Download PDF

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Publication number
EP0136598A2
EP0136598A2 EP84110765A EP84110765A EP0136598A2 EP 0136598 A2 EP0136598 A2 EP 0136598A2 EP 84110765 A EP84110765 A EP 84110765A EP 84110765 A EP84110765 A EP 84110765A EP 0136598 A2 EP0136598 A2 EP 0136598A2
Authority
EP
European Patent Office
Prior art keywords
sheet metal
pliers
guide
working machine
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP84110765A
Other languages
German (de)
English (en)
Other versions
EP0136598B1 (fr
EP0136598A3 (en
Inventor
Peter Hug
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.)
Haemmerle AG Maschinenfabrik
Original Assignee
Haemmerle AG Maschinenfabrik
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 Haemmerle AG Maschinenfabrik filed Critical Haemmerle AG Maschinenfabrik
Publication of EP0136598A2 publication Critical patent/EP0136598A2/fr
Publication of EP0136598A3 publication Critical patent/EP0136598A3/de
Application granted granted Critical
Publication of EP0136598B1 publication Critical patent/EP0136598B1/fr
Expired legal-status Critical Current

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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
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
    • 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

Definitions

  • the present invention relates to a device for handling sheet metal plates, which is processed using a sheet metal working machine, e.g. are to be deformed by means of a sheet metal press.
  • Such a manipulation device has two rotatable pliers, which with.
  • Metal sheet supports work together, which grasp the metal sheets laterally.
  • the sheet metal pliers are slidably arranged in three dimensions.
  • a tong slide is provided, which is arranged to move up and down on a horizontal slide, which in turn is carried by another slide, which is also displaceable in the horizontal direction but perpendicular to the movement of the other horizontal slide.
  • the purpose of the invention is an essential further development and improvement of this known device.
  • a device for handling sheet metal sheets to be deformed in a sheet metal working machine is used with the aid of two rotatable pliers which cooperate with sheet metal supports and which are intended to be gripped laterally and are arranged so as to be displaceable in three dimensions.
  • each support is designed as a z-frame, which is guided along the leg ends of the ⁇ -shape in supports arranged on the front of the sheet metal working machine so as to be displaceable along the same.
  • the displaceable guide is inserted between the legs of the U-shaped support and is designed as a guide column which is equipped with a gripper slide for receiving the pliers and with a beam slide for receiving a support beam.
  • a rotating device can be provided on the front of the sheet metal working machine, which has a rotatable holding member for holding the workpiece to be machined in the vertical position parallel to the frontal plane and for rotating the same in this plane about a horizontal axis perpendicular to the frontal plane.
  • the sheet metal press 1 denotes a sheet metal press which is known per se and by means of which sheet metal sheets are processed.
  • the sheet metal press 1 has a ram 101 with an upper tool 102, which interacts with the lower tool 103 in the frame 104 of the sheet metal press 1.
  • the processing for example profiling, is usually carried out according to a predetermined program, the individual bending steps being controlled by a computer and be monitored.
  • the beams 2 and 3 extend in the horizontal direction and are at least as long as the length of the press on the front. According to the representation in FIG.
  • the main beams 2 and 3 project considerably beyond the press length both on the right and on the left.
  • 4 and 5 each designate a ⁇ -shaped frame, each frame being composed of a lower and an upper horizontal support 6 and 8 and a vertical support 7 and 9, respectively.
  • the left frame 4 in FIG. 1 is formed from the two horizontal beams 6 and from the vertical beam 7, while the frame 5 on the right side consists of the two horizontal beams 8 and from the vertical beam 9.
  • the horizontal supports 8 are arranged at the top and bottom at the height of the upper and lower main supports 2 and 3, respectively, and the entire frame 5 can be moved along the supports 2 and 3.
  • the ⁇ -frame 5 is guided on the front and side of the sheet metal press 1 on the upper and lower main supports 2 and 3, while the end of the lower support 8 facing away from the front rests on the floor by means of a roller 106 '.
  • the arrangement of the ⁇ -frame 4, also on the front of the sheet metal press 1, is carried out in exactly the same way.
  • the main beams 2 and 3 are on the frame 104 of the sheet metal press 1 or on separate lateral vertical Supports 48 (Fig. 3) attached and provided with rails 10 and 11, on which the horizontal supports 8 and 6 are supported by means of rollers 12.
  • the construction below provides a pair of rollers 12 on the right and left of the carrier 8.
  • a driven gear 13 engages in a rack 14 (FIG. 2) which is fastened along the main carrier 3 below this.
  • a vertical guide column 15 is arranged between the horizontal supports 6 and 8, respectively.
  • Each guide column 15 is provided with lower guide rollers 16 which slide on a rail 17 along the horizontal lower supports 6 and 8, respectively.
  • Each guide column 15 is guided at the top by rollers 18 along a rail 49 which is arranged in the region of the upper horizontal support 8. From the figures 2 and 3 rollers 19 'and 19' 'can also be seen, which form an additional upper guide for the ⁇ -frame 4 and 5.
  • a gripper slide 20 and a beam slide 21 are arranged vertically movable.
  • the two slides 20 and 21 are coupled to one another and are connected by means of an upper chain 22, which is guided via deflection rollers 23, to a counterweight 24, which is connected to the ball by means of a lower chain 25, via the lower deflection rollers 26 kenschlitten 21 is connected, which is supported by rollers 27.
  • the gripper carriage 20 is guided with the aid of rollers 28.
  • a hydraulic motor 29 is provided which drives a gearwheel 30 which meshes with a rack 31 arranged in the guide column 15.
  • a motor 32 which is arranged in the region of the upper horizontal support 8 and is coupled to the guide rollers 16 by means of a shaft 33, is used to move the guide column 15 along the rail 17.
  • pliers 34 (FIG. 3) which are equipped with gripper jaws 35 and can be rotated with the aid of a hydraulic motor 36 about the horizontal axis running parallel to the frontal plane of the press.
  • the hydraulic motor 36 has a high torque and only rotates at a low speed.
  • a hydraulic motor 37 is provided on the beam slide 21, which drives a gear 38 which meshes with the toothed rack 31. Furthermore, a support beam 39 is provided which extends horizontally between the guide columns 15 and below the pliers 34 and is attached to the beam slide 21 with the aid of brackets 40. The arrangement is such that the support beam 39 swings out of the normal position shown in FIGS. 2 and 2A into the position shown in FIG.
  • Fig. 2B shown position can be pivoted, in which the support beam 39 is no longer in the area of the pliers 34, but next to the column 15, so that the pliers 34 can be moved very close to the front of the press 1.
  • the pivoting of the support beam 39 is carried out by hydraulically or pneumatically adjustable joint supports 41, which are connected to the boom 40 and to the column 15.
  • a centering chain drive 42 is arranged in the support beam 39, which causes the support beam 39 to be adjusted horizontally so that it always assumes a symmetrical position with respect to the two guide columns 15. Furthermore, a support roller 43 is arranged directly in front of the gripper jaws 35 of the pliers 34, which is accommodated in a holder 44 and follows the movements of the pliers 34 along the support beam 39. Further support rollers 45 are mounted along the support bar 39 in pivotable supports 46 which are under spring action or are loaded by a counterweight which hold the supports 46 in the position shown in FIG. 3. When the vertical guide column 15 moves along the support beam 39, the supports 46 are pivoted clockwise. With 47 a fixed support roller is designated, which is arranged in the middle of the support beam 39.
  • the detailed design of the pliers 34 and gripping jaws 35 can be seen in FIG. 4.
  • the gripping jaw 35 shown has a fixed jaw part 51 and a movable jaw part 52.
  • the fixed jaw part 51 is equipped at its end with a pair of pliers 53 which can be pivoted about a bolt 54 and which interacts with the pliers half 55 of the movable jaw part 52.
  • This pliers half 55 is pivotally mounted about a bolt 56.
  • the two pliers halves 53 and 55 are under the action of a spring, which strives to hold the two pliers halves in the opening position shown. It should also be mentioned that the two pliers halves 53 and 55 correspond to the pliers designated 34 in FIGS. 1 to 3.
  • the pliers halves automatically adapt to the shape of the piece of sheet metal which they are intended to grip. Whether a piece of sheet metal is in the forceps or not is indicated by a light barrier, which includes a transmitter 57 in the solid B ackenteil 51 and a receiver 57'im movable jaw member 52nd
  • the movable jaw part 52 is pivotally mounted about a pin 58 and carries a guide roller 59 at its end remote from the pliers half 55, which cooperates with a guide roller 60.
  • a spring is designated, which keeps the jaw parts 51 and 52 open.
  • the jaw halves 51 and 52 are provided with a collar-shaped projection 62 and rotatable about the longitudinal axis in a housing 66 stored.
  • the jaw part 52 is pivoted about the pin 58.
  • a piston 63 is provided, which is located in a cylinder 64 and has a wedge-shaped part 65 directed against the pliers.
  • the piston 63 is shifted from left to right in FIG. 4, the wedge surface of the wedge-shaped part 65 pivots the pliers half 52 about the bolt 58 by lifting the guide roller 59 as the wedge surface advances.
  • the cylinder 64 of the piston 63 is rotatably supported in the cylindrical housing 66, the axially arranged rotary drive being designated by 67.
  • This rotary drive enables a rotation of 360 0 in both directions.
  • the cylindrical housing 66 is provided with pressure connections 68 and 69, which are connected to the space for receiving the piston 63 through bores 70, 71 through the wall of the cylinder 64.
  • the gripping jaws 51, 52 can be opened and closed by actuating the pressure.
  • a housing 74 is used, in which four star-shaped offset pressure cylinders 75 with pistons are present.
  • the housing 74 is arranged in the cylindrical holder 72 in such a way that if the pressure pistons in the cylinders 75 are extended, they lock the holder 72 so that a rigid connection is formed between the slide 20 and the cylindrical holder 72.
  • the slide 20 uses the guide arm 73 to carry out the theoretical movement of the gripping jaws 51, 52 calculated by the computer, which is composed of circular arcs. In fact, there are small deviations, which lead to tension in the sheet metal when the connection is rigid. On the one hand, this is clamped and deformed in the press and, on the other hand, it is held between the pliers halves.
  • the pistons are retracted into the star-shaped pressure cylinders 75 during processing, so that the cylindrical holders 72 can move and yield somewhat.
  • the pressure line for pressurizing the pressure piston is designated 77 and a fixing lock with 76, which prevents axial movement of the housing 74.
  • the more detailed design of the rotating device 105 can be seen from FIGS. 5 and 6.
  • This rotating device is arranged on the ram 101 of the sheet metal press and is shown in front view in FIG. 5 and partially in vertical section in FIG. 6.
  • the rotating device 105 has a base plate 106 ', which is held in an adjustable manner on the plunger 101 by means of holding members 107.
  • the holding members 107 overlap the base plate in the region of the corners thereof and have spacing screws 108, by means of which the base plate 106 can be precisely adjusted and fixed by means of clamping screws 109 inserted into the plunger 101.
  • the base plate 106 carries a housing 110 in which a worm gear is accommodated.
  • the shaft of the worm gear is designated 111. It extends perpendicular to the base plate 106 and to the plunger 101 from the housing 110 and carries a hub 112, which is held on the shaft by means of a holding disk 113.
  • a holding plate 114 is attached to the outer end of the hub 112.
  • a stop lever 115 is also connected to the hub 112, by means of which the rotation of the shaft 111 can be precisely limited.
  • adjustable stops 116 and switches 117 which serve to turn off the drive motor of the transmission, to limit the rotation of the stop lever. This drive motor is flanged to the side of the gear housing 110 and is designated 118.
  • an angle step encoder 19 is arranged on the transmission housing 110 for electronic regulation of the angle of rotation, while the stop lever 115 and the stops 116 together with the switch 117 are omitted.
  • the holding plate 114 is bar-shaped and extends horizontally along the sheet metal press in the rest position.
  • a number of magnets 120 are arranged on this holding plate 114, which can be energized and thereby lose their magnetic effect.
  • suction or gripping elements which act by applying a vacuum.
  • a sheet of metal can be held by the magnets 120 and rotated about an axis running perpendicular to the sheet of metal, as will be described in more detail later.
  • the sheet metal sheet to be processed is fed into the sheet metal press 1 in an approximately vertical position by a feed carriage (not shown) and is gripped by the tongs 34.
  • the two vertical guide columns 15 are maneuvered in such a way that the open gripping jaws 35 of the pliers 34 grip over the side edges of the sheet metal plate and hold them in place as soon as the edge of the sheet metal plate contacts the base of the pliers mouth.
  • the pliers halves 55 are closed, the sheet metal plate is held in a vertical position and is lifted upward from the reference surface by the movement of the two gripper slides 20.
  • the rotary drive 67 is actuated until the metal sheet assumes the horizontal position and is supported by the rollers 43, 45 and 47.
  • the two guide columns 15 are moved in the horizontal direction together with the sheet metal plate supported by the rollers 43, 45 and 47 against the tool plunger 101 of the sheet metal press 1 and at a height such that they can be inserted between the upper and lower tools 102 and 103 of the sheet metal press enables.
  • the clamping force of the pliers halves 55 is temporarily reduced in order to position the sheet metal plate precisely.
  • the pliers halves 55 then close and the metal sheet is ready for processing.
  • the sheet metal plate held in place by the pliers 34 describes a precisely precalculated pivoting movement, which is carried out exactly by the gripping jaws 35 in that the gripping jaws describe the path calculated theoretically and controlled by the computer.
  • This theoretically determined We g but not exactly the way actually described as are available through the sheet metal nature and other influences always small differences. These deviations would create stresses in the sheet metal, which can have an adverse effect.
  • the pistons are retracted into the pressure cylinders 75 arranged in a star shape, so that the cylindrical holders 72 can move and yield somewhat.
  • the sheet metal plate is brought back into the vertical position by rotating the pliers 34 and by moving the columns 15 on the rails 17 and by lifting the gripper slides 20 of the rotating device 105 fed. There, the metal sheet is held in place by the magnets 120, whereupon the pliers 34 are opened and the columns 15 are withdrawn to the left in FIG. 3.
  • the rotating device 105 is operated by actuating the motor 118, so that the metal sheet is rotated in the vertical plane.
  • the angle of rotation can be precisely set or programmed.
  • the sheet metal plate is then gripped again in a vertical position by the pliers 34, whereupon the holding magnets 120 are switched off.
  • the sheet metal plate is brought into the horizontal position by rotating the pliers 34 and moved again by the required amount under the tool stamp.
  • the other bends run exactly the same as the first bend described. If a further bend in the same direction is required, the sheet metal plate is rotated about the axis of the two pliers 34.
  • the support beam 39 is brought into the position shown in FIG. 2B by pivoting the boom 40, so that the vertical columns 15 together with the gripper slide 20 are very much can approach the tool ram 1. This position is shown in broken lines in FIG. 2.
  • the gripping jaws 35 can not only take any position, but be moved in a simple and very precise manner by a computer control.
  • the arrangement of the rotating device 105 offers the possibility that the sheet metal plate can also be rotated about an axis running perpendicular to the front side of the press and can thus be brought into any position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Feeding Of Workpieces (AREA)
EP84110765A 1983-10-04 1984-09-10 Dispositif pour la manipulation de feuilles de tôle Expired EP0136598B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0350983A AT378701B (de) 1983-10-04 1983-10-04 Einrichtung zur handhabung von blechtafeln
AT3509/83 1983-10-04

Publications (3)

Publication Number Publication Date
EP0136598A2 true EP0136598A2 (fr) 1985-04-10
EP0136598A3 EP0136598A3 (en) 1985-09-25
EP0136598B1 EP0136598B1 (fr) 1987-11-19

Family

ID=3551493

Family Applications (1)

Application Number Title Priority Date Filing Date
EP84110765A Expired EP0136598B1 (fr) 1983-10-04 1984-09-10 Dispositif pour la manipulation de feuilles de tôle

Country Status (6)

Country Link
US (1) US4708573A (fr)
EP (1) EP0136598B1 (fr)
JP (1) JPS60145221A (fr)
AT (1) AT378701B (fr)
CA (1) CA1233623A (fr)
DE (1) DE3467518D1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2628661A1 (fr) * 1988-03-15 1989-09-22 Amada Co Ltd Appareil de manipulation pour machine a cintrer et procede de manipulation de pieces
DE3941551A1 (de) * 1988-12-16 1990-06-21 Amada Co Vorrichtung zum positionieren von plattenfoermigen werkstuecken
EP0300984A3 (en) * 1987-07-23 1990-10-24 Antonio Codatto Manipulator for metal sheets
AT399303B (de) * 1989-09-29 1995-04-25 Amada Co Ltd Abkantpressensystem, einrichtung zum handhaben von blechen, vorrichtung und verfahren zum geraderichten von blechen

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62118611U (fr) * 1986-01-21 1987-07-28
GB2211002B (en) * 1987-12-15 1992-01-08 Amada Co Ltd Device and method for controlling a manipulator for a plate bending machine
US4926724A (en) * 1988-09-20 1990-05-22 Redicon Corporation Method and apparatus for multidirectional sheet feeding
US5016506A (en) * 1988-09-20 1991-05-21 Redicon Corporation Method for multidirectional sheet feeding
DE4008819A1 (de) * 1990-03-20 1991-09-26 Erhard Luginsland Vorrichtung zum senkrechten verstellen einer platte relativ zu einem arbeitskopf
DE4311078C1 (de) * 1993-04-03 1994-05-26 Roland Man Druckmasch Vorrichtung zur Erzeugung einer Hülse, insbesondere einer hülsenförmigen Druckform, mit zusammenhängender Umfangsfläche
JP2719095B2 (ja) * 1993-06-30 1998-02-25 株式会社アマダメトレックス 曲げ加工機におけるワーク供給、搬出装置
FR2819436B1 (fr) * 2001-01-17 2003-04-18 Amada Europ Sa Accompagnateur de toles pour presse plieuse
CN112872789B (zh) * 2020-12-28 2022-06-07 陈海华 一种沙发脚部件自动装铝皮工艺
CN112756962B (zh) * 2020-12-28 2022-06-07 陈海华 一种沙发脚部件自动装铝皮设备
CN112893527A (zh) * 2021-01-20 2021-06-04 青岛艾特智能装备有限公司 一种柔性折弯中心压臂整体结构
CN113618469A (zh) * 2021-08-17 2021-11-09 安徽鑫泰亿达装饰建材有限公司 一种铝型材双头数控大截面切割锯段送结构及其送料方法
CN114951369A (zh) * 2022-06-28 2022-08-30 中国重汽集团济南动力有限公司 一种重型卡车车门铰链安装板折弯装置

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DE1602573B1 (de) * 1967-09-15 1970-05-21 Schleifenbaum & Steinmetz Manipulator fuer Ronden bei der Bearbeitung mittels einer Kuempelpresse
FR2070719A1 (fr) * 1969-11-24 1971-09-17 Steelweld Ltd
FR2111852B1 (fr) * 1970-10-27 1974-03-29 Amada Co Ltd
FR2231446A1 (en) * 1973-05-28 1974-12-27 Chrysler France Cam controlled press with reciprocating feed bar - has vertically reciprocated press block and roller driven bar
US4005782A (en) * 1974-03-04 1977-02-01 Engineered Metal Products Company, Inc. Picker
DE2747237A1 (de) * 1977-10-21 1979-04-26 Schuler Gmbh L Werkstuecktransportvorrichtung
DE2805532A1 (de) * 1978-02-10 1979-08-16 Trumpf Maschinen Ag Werkzeugmaschine mit einer einstellbaren vorrichtung zum festhalten und verschieben eines werkstuecks gegenueber einem werkzeug
JPS55144330A (en) * 1979-04-25 1980-11-11 Shin Meiwa Ind Co Ltd Automatic plate bending device
US4419039A (en) * 1981-03-04 1983-12-06 Bengtsson Bengt A Apparatus for loading objects
AT373174B (de) * 1982-06-23 1983-12-27 Voest Alpine Ag Vorrichtung zum zufuehren von blechtafeln zu einer biegemaschine
EP0115602A1 (fr) * 1983-01-06 1984-08-15 Hämmerle AG Dispositif pour manipuler des pièces à usiner
JPH10839A (ja) * 1996-06-18 1998-01-06 Nikon Corp 画像形成装置、クリーニングリボン、クリーニング装置 およびクリーニング方法

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0300984A3 (en) * 1987-07-23 1990-10-24 Antonio Codatto Manipulator for metal sheets
FR2628661A1 (fr) * 1988-03-15 1989-09-22 Amada Co Ltd Appareil de manipulation pour machine a cintrer et procede de manipulation de pieces
DE3908496A1 (de) * 1988-03-15 1989-09-28 Amada Co Biegemaschine, handhabungsvorrichtung fuer eine biegemaschine und verfahren zum veraendern der lage eines werkstueckes in einem biegeverfahren
US5042287A (en) * 1988-03-15 1991-08-27 Amada Company, Limited Manipulator device for a bending machine and a method for changing the position of the workpiece in a bending process
DE3908496C2 (de) * 1988-03-15 1999-03-25 Amada Co Handhabungsvorrichtung für eine Biegemaschine, Verfahren zur Umkehrung der Lage eines Werkstückes in einem Biegeverfahren und Biegemaschine
DE3941551A1 (de) * 1988-12-16 1990-06-21 Amada Co Vorrichtung zum positionieren von plattenfoermigen werkstuecken
AT399303B (de) * 1989-09-29 1995-04-25 Amada Co Ltd Abkantpressensystem, einrichtung zum handhaben von blechen, vorrichtung und verfahren zum geraderichten von blechen

Also Published As

Publication number Publication date
AT378701B (de) 1985-09-25
EP0136598B1 (fr) 1987-11-19
ATA350983A (de) 1985-02-15
EP0136598A3 (en) 1985-09-25
CA1233623A (fr) 1988-03-08
JPS60145221A (ja) 1985-07-31
DE3467518D1 (en) 1987-12-23
JPH0571328B2 (fr) 1993-10-07
US4708573A (en) 1987-11-24

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