EP2934815A1 - Procédé d'usinage de croisillons de cardan sur des tours - Google Patents

Procédé d'usinage de croisillons de cardan sur des tours

Info

Publication number
EP2934815A1
EP2934815A1 EP13807978.5A EP13807978A EP2934815A1 EP 2934815 A1 EP2934815 A1 EP 2934815A1 EP 13807978 A EP13807978 A EP 13807978A EP 2934815 A1 EP2934815 A1 EP 2934815A1
Authority
EP
European Patent Office
Prior art keywords
workpiece
clamping
pins
rotation
centering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13807978.5A
Other languages
German (de)
English (en)
Inventor
Leo Schreiber
Albrecht HANNIG
Werner Mühlich
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.)
MAG IAS GmbH Eislingen
Original Assignee
MAG IAS GmbH Eislingen
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 MAG IAS GmbH Eislingen filed Critical MAG IAS GmbH Eislingen
Publication of EP2934815A1 publication Critical patent/EP2934815A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B3/00—General-purpose turning-machines or devices, e.g. centre lathes with feed rod and lead screw; Sets of turning-machines
    • B23B3/16—Turret lathes for turning individually-chucked workpieces
    • B23B3/167—Turret lathes for turning individually-chucked workpieces lathe with two or more toolslides carrying turrets
    • B23B3/168—Arrangements for performing other machining operations, e.g. milling, drilling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B3/00—General-purpose turning-machines or devices, e.g. centre lathes with feed rod and lead screw; Sets of turning-machines
    • B23B3/16—Turret lathes for turning individually-chucked workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B49/00—Measuring or gauging equipment on boring machines for positioning or guiding the drill; Devices for indicating failure of drills during boring; Centering devices for holes to be bored
    • B23B49/04—Devices for boring or drilling centre holes in workpieces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B5/00—Turning-machines or devices specially adapted for particular work; Accessories specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/02—Machine tools for performing different machining operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q39/02—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station
    • B23Q39/021—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like
    • B23Q39/025—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder
    • B23Q39/026—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation the sub-assemblies being capable of being brought to act at a single operating station with a plurality of toolheads per workholder, whereby the toolhead is a main spindle, a multispindle, a revolver or the like with different working directions of toolheads on same workholder simultaneous working of toolheads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • F16D3/40—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another with intermediate member provided with two pairs of outwardly-directed trunnions on intersecting axes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/16—Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts
    • F16D3/26—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected
    • F16D3/38—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another
    • F16D3/40—Hooke's joints or other joints with an equivalent intermediate member to which each coupling part is pivotally or slidably connected with a single intermediate member with trunnions or bearings arranged on two axes perpendicular to one another with intermediate member provided with two pairs of outwardly-directed trunnions on intersecting axes
    • F16D3/405—Apparatus for assembling or dismantling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P2700/00—Indexing scheme relating to the articles being treated, e.g. manufactured, repaired, assembled, connected or other operations covered in the subgroups
    • B23P2700/11—Joints, e.g. ball joints, universal joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q39/00—Metal-working machines incorporating a plurality of sub-assemblies, each capable of performing a metal-working operation
    • B23Q2039/008—Machines of the lathe type

Definitions

  • the invention relates to a manufacturing method and a machine suitable for the manufacture of journal crosses and similar workpieces, which have rotationally symmetric areas whose axes of rotation at an angle, in particular at right angles to each other.
  • journal crosses the end regions must be machined with respect to the lateral surface and the end surface, while the central region often remains raw, as emerges from the primary molding process (casting or forging).
  • the workpiece is clamped in its central region of the usually still unprocessed surfaces, in such a way that in this clamping two mutually aligned rotationally symmetric sections, ie with the two mutually parallel end faces, can be edited.
  • This usually includes the processing of the end faces, that is, the machining of the workpiece to length from one to the other end face, and the introduction of centering holes in these end faces.
  • the workpiece is pivoted about a pivot axis which is perpendicular to the connecting line between the already created centering holes and perpendicular to the still to be created centering holes of the other two rotationally symmetric sections, and in this pivoted position turn the two other mutually aligned rotationally symmetric sections such as described above edited by editing the end faces, so editing the workpiece to length from one to the other end face, and the introduction of centering holes in these end faces.
  • the workpiece is preferably parallel to or on the axis of rotation of the lathe used with the axis of rotation of the rotationally symmetric sections to be machined in this step. Subsequently, the workpiece is tensioned between two centering points, which engage in the previously made centering holes, and the tension in its central region is solved on the usually still unprocessed surfaces. The workpiece is additionally driven in rotation and on the rotating workpiece, the lateral surfaces of the first pair of pins are processed near the machined end faces or directly adjacent thereto.
  • the workpiece Before the lateral surfaces of the second pair of pins can be processed in the same way, the workpiece must be pivoted back about the pivot axis, for which it is again stretched in its central region on the rule still unprocessed surfaces and - after releasing the voltage between Tips - is pivoted back about this pivot axis, so that the first pair of pins on the axis of rotation and can be stretched between peaks.
  • the lateral surfaces can be processed by means of rotary milling or by turning.
  • the workpiece For clamping the workpiece in the central region of the usually unprocessed surfaces, the workpiece is placed on a support surface which is parallel to the plane of the intersecting axes of rotation of the rotationally symmetrical workpiece surfaces.
  • At least two, possibly also four radially in the inner corners between the rotationally symmetric areas inwardly directed clamping jaws are moved against the inner corners of the workpiece and the workpiece thereby stressed.
  • This procedure can be implemented with a machine which, in addition to the usual components of a lathe, ie a bed, one or two tool units which can be moved in the Z and X directions, and a headstock and an opposite tailstock or counterhead have an additional clamping device with a bearing surface , which runs parallel to the axis of rotation of the machine has.
  • a lathe ie a bed
  • one or two tool units which can be moved in the Z and X directions
  • a headstock and an opposite tailstock or counterhead have an additional clamping device with a bearing surface , which runs parallel to the axis of rotation of the machine has.
  • this additional clamping device including the support surface about a perpendicular to the receiving surface standing- pivot axis should be pivoted, be pivoted by 90 ° usually ,
  • the additional clamping device can also be moved to a deactivated position outside the working range of the lathe, be it in the X direction or in the Y direction.
  • this additional clamping device has an even number, for example two or four, of the support surface upwardly projecting Clamping jaws, which are acted upon radially inwardly with respect to the pivot axis of the support surface with force and thereby tension a loaded between the clamping jaws workpiece on the inner corners.
  • at least one tool unit must comprise a rotationally drivable tool, for example a center drill, with which the centering holes can be produced and a peripheral cutter, with which the workpiece is machined to length .
  • the headstock and possibly also the counter-headstock should preferably equipped with a clamping device be, in the center of which is a centering, as well as a driving device for the workpiece in the direction of rotation, for example, a Stirnmit commentary.
  • FIGS. 1a-c different operating states of the lathe
  • Fig. 2a-d different processing states of the journal cross.
  • the goal is to machine the pin 2 on the face side and on its lateral surfaces in a cross member having a central part 3, from which a pin 2 protrudes in one plane in four directions separated by 90 ° while the middle part 3 of the steel or cast iron part produced by primary molding (casting or forging) as a rule remains unprocessed.
  • the two mutually opposite and aligned pairs of two pins can also be arranged with another intermediate angle to each other.
  • a specially equipped lathe is used, as shown in FIGS. 1a to c:
  • This lathe has on the one hand the usual components: On a bed 11 sits a headstock 12, from which a tensioning device 13 protrudes for clamping and rotationally driving a workpiece clamped therein about the axis of rotation 10, which defines for the purposes of the present invention as a Z-axis becomes. Opposite the headstock 12 is a counter-spindle stock 14, which likewise carries a tensioning device 13.
  • two tool units 20 are arranged, which are preferably constructed identically and each consist of a Z-slide 16 and along Z-guides 15th can be moved in the Z direction.
  • movable X-carriage 17 are arranged in the X direction, each carrying a tool turret 6 on their facing front sides on which both rotationally driven tools, such as center drill or side milling cutter can be arranged, as well as non-rotating Tools, such as turning tools.
  • a clamping device 19 is arranged for a workpiece 1 in or immediately below the work area, consisting inter alia of a lying in the preferably ZY plane bearing surface 18 for placing the pin cross 1 with its main plane and from this bearing surface 18 upwardly projecting jaws 9, which are movable against the center of the spider 1 and the middle part 3 can clamp between them, as best seen in Figures 2a to d.
  • the support surface 18 is the upper side of an upper table 23, which is pivotable relative to an underlying and supporting lower table 24 about a preferably extending in the X direction normal 21, in particular clocked by, for example, 90 ° can be pivoted.
  • the entire tensioning device 19, preferably including upper table 23 and lower table 24, is movable in the X-direction along X-guides 25 into the working area and, preferably downwards, or both upwards and downwards, out of this.
  • the X-guides 25 are so far extended for the clamping device 19 that a trunnion 1 resting on it over the work area, so the aligned position with the axis of rotation 10 of the lathe, is moved upwards to there easier processing of the workpiece by powered tools of the tool units 20 to allow.
  • the jaws 9 are moved radially inward until they rest against the respective inner corners 5 of the middle part 3 and the spider 1 fixed span between them.
  • the jaws 9 are moved radially inward until they rest against the respective inner corners 5 of the middle part 3 and the spider 1 fixed span between them.
  • the pair of pins 2, whose axis of rotation 10a is parallel to the axis of rotation 10 of the lathe, can first be machined to length by the end sides 4 of these pins 2 by means of e.g. Disk mill 7 are milled to size.
  • the side milling cutter either sits on one of the tool turrets 6 or represents a separate tool unit on the lathe. Subsequently, the two tool turrets 6 are rotated so that the centering bores 26 thereon are aligned with the axis of rotation 10a of this pair of pins 2 ( Fig. 1 b) and the centering drill 26 are moved so far in the Z direction in the end face 4 in that they produce there each a center hole 8.
  • the upper table 23 is rotated together with the spider 1 to the normal 21 relative to the lower table 24 in this case 90 ° so that now the unprocessed pair of pins with its axis of rotation 10b parallel to the axis of rotation 10 of the lathe and according to the Figure 2c processed with the same procedure as previously described now this second pair of pins.
  • the tensioning device 19 is moved downwards together with the spider 1 stretched on it, that this axis of rotation 10a of the end side already machined pin 2 is aligned with the axis of rotation 10 of the lathe, and the centering points 22 of the jigs 13 engage in the centering holes 8 and tension so that the spider 1 between these spikes 22nd
  • the clamping device 19 is released by the clamping jaws 9 retracting radially outward and releasing the spider 1, and the entire clamping device 19 moves downwards along the X-guides 25 (FIG. 1 c) Spider 1 around the axis of rotation 10 of the lathe of the headstock 12 and counter spindle 14 can be driven to rotate.
  • Spider 1 apart from the centering tips 22 on the journal cross 1, there are usually an end driver or other elements transmitting a torque about the axis of rotation 10 to the workpiece.
  • the tensioning device 19 moves up until the spider 1 is seated again on its upper bearing surface 18, and the clamping jaws 9 are moved radially inwards and tension the spider 1 back into the inner corners 5.
  • centering tips 22 are moved back from the centering holes 8 and (Fig. 2b) of the upper table 23 together with the spider 1 to the normal 21 relative to the lower table 24 in this case rotated 90 °, preferably turned back, so now the on the lateral surfaces still unprocessed pair of pins with its axis of rotation 10b parallel to the axis of rotation 10 of the lathe.
  • the first pair of pins aligned or parallel to the axis of rotation of the lathe, first held by the additional clamping device 19 and then held directly between tips 22 ready to finish, and only after rotation of the workpiece by 90 ° by means of the additional clamping device 19 to edit the second pin pair in the same way.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Turning (AREA)
  • Drilling And Boring (AREA)
  • Gear Processing (AREA)

Abstract

L'invention concerne un procédé d'usinage de croisillons de cardan sur des tours. Au lieu, comme c'était le cas jusqu'à présent, de placer les croisillons de cardan (1) dans un mandrin spécial d'un tour, d'usiner chaque tourillon (2) puis de soumettre la pièce à une rotation cadencée de 90°, le procédé de l'invention utilise dans la zone de travail une surface d'appui (18) munie d'un dispositif de serrage (19). La pièce brute peut être placée et serrée sur le dispositif de serrage de telle sorte que, dans cette première configuration, deux faces frontales opposées, y compris le perçage central, peuvent déjà être usinées. Pour usiner les surfaces d'enveloppe adjacentes, un serrage est effectué entre les pointes de centrage (22) au niveau des faces frontales. Après une rotation cadencée de 90° sur cette surface d'appui (18), on répète le processus pour la seconde paire de tourillons. L'usinage des tourillons (2) mutuellement alignés peut être effectué simultanément au moyen d'un équipement approprié de la machine.
EP13807978.5A 2012-12-21 2013-12-13 Procédé d'usinage de croisillons de cardan sur des tours Withdrawn EP2934815A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012113022.1A DE102012113022B3 (de) 2012-12-21 2012-12-21 Bearbeitungsprozess von Zapfenkreuzen auf Drehmaschinen
PCT/EP2013/076554 WO2014095638A1 (fr) 2012-12-21 2013-12-13 Procédé d'usinage de croisillons de cardan sur des tours

Publications (1)

Publication Number Publication Date
EP2934815A1 true EP2934815A1 (fr) 2015-10-28

Family

ID=49779885

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13807978.5A Withdrawn EP2934815A1 (fr) 2012-12-21 2013-12-13 Procédé d'usinage de croisillons de cardan sur des tours

Country Status (10)

Country Link
US (1) US20160001372A1 (fr)
EP (1) EP2934815A1 (fr)
JP (1) JP2016505395A (fr)
KR (1) KR20150097468A (fr)
CN (1) CN104781037A (fr)
BR (1) BR112015011899A2 (fr)
DE (1) DE102012113022B3 (fr)
MX (1) MX2015005480A (fr)
RU (1) RU2015128014A (fr)
WO (1) WO2014095638A1 (fr)

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CN105458705B (zh) * 2015-01-23 2017-11-21 万向钱潮股份有限公司 一种万向节十字轴钻铣组合机床
DE202016100766U1 (de) * 2016-02-15 2017-05-17 Klingelnberg Ag Werkstückspannsystem für eine Messmaschine
CN106624174B (zh) * 2016-12-13 2018-10-12 山西平阳重工机械有限责任公司 一种十字翼支承细长轴的精密加工方法
CN107336018B (zh) * 2017-06-29 2024-02-13 深圳市粤中窿科技有限公司 一种万向车铣复合装置
CN113885434A (zh) * 2021-10-29 2022-01-04 江西振扬精密机械制造有限公司 一种高精度十字轴数控加工工艺
CN113996820B (zh) * 2021-11-18 2022-08-19 柳州市工大机械有限公司 一种扭杆座车削设备
CN115179047A (zh) * 2022-09-03 2022-10-14 北京信息科技大学 一种混联结构车铣复合加工中心

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FR2339468A1 (fr) * 1976-01-29 1977-08-26 Leroy Somer Moteurs Procede et dispositif pour le remplacement automatique d'une piece a usiner sur une machine-outil
CH602243A5 (fr) * 1976-04-05 1978-07-31 Bruno Caprioli
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SE425951B (sv) * 1978-11-13 1982-11-29 Smt Machine Co Ab Detaljvexlare vid svarvar
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FR2631571B1 (fr) * 1988-05-19 1994-04-15 Somab Sa Machine automatique a tailler les eprouvettes de resilience et de traction

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Also Published As

Publication number Publication date
JP2016505395A (ja) 2016-02-25
CN104781037A (zh) 2015-07-15
RU2015128014A (ru) 2017-01-27
KR20150097468A (ko) 2015-08-26
WO2014095638A1 (fr) 2014-06-26
BR112015011899A2 (pt) 2017-07-11
DE102012113022B3 (de) 2014-05-15
MX2015005480A (es) 2015-07-23
US20160001372A1 (en) 2016-01-07

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