EP1651367B1 - Method for bending workpieces - Google Patents

Method for bending workpieces Download PDF

Info

Publication number
EP1651367B1
EP1651367B1 EP04740963A EP04740963A EP1651367B1 EP 1651367 B1 EP1651367 B1 EP 1651367B1 EP 04740963 A EP04740963 A EP 04740963A EP 04740963 A EP04740963 A EP 04740963A EP 1651367 B1 EP1651367 B1 EP 1651367B1
Authority
EP
European Patent Office
Prior art keywords
bending
workpiece
robot
fed
bending device
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.)
Revoked
Application number
EP04740963A
Other languages
German (de)
French (fr)
Other versions
EP1651367A1 (en
Inventor
Gerhard Rosenberger
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.)
Rosenberger AG
Original Assignee
Rosenberger AG
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=34195733&utm_source=***_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1651367(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from DE102004012771A external-priority patent/DE102004012771A1/en
Application filed by Rosenberger AG filed Critical Rosenberger AG
Priority to PL04740963T priority Critical patent/PL1651367T3/en
Publication of EP1651367A1 publication Critical patent/EP1651367A1/en
Application granted granted Critical
Publication of EP1651367B1 publication Critical patent/EP1651367B1/en
Anticipated expiration legal-status Critical
Revoked legal-status Critical Current

Links

Images

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
    • 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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/12—Bending rods, profiles, or tubes with programme control

Definitions

  • the invention relates to a method for bending workpieces, in particular of pipes, wires, bar materials, semi-finished products, sheets od. Like. With at least one bending device.
  • the workpiece to be deformed is fed to a bending head of a bending machine by means of a feed device, for example by means of a cross slide.
  • a feed device for example by means of a cross slide.
  • the workpiece is picked up by means of a clamping device, for example a collet, and fed to the bending head by means of the cross slide.
  • a clamping device for example a collet
  • the workpieces must be bent or reshaped in a bending machine. If other bending and forming processes are required, the workpiece is fed to a further bending device for further processing. There is no exact final check of the bending state in the process.
  • EP-A-554533 is considered to be the closest prior art to the subject-matter of claim 1. It discloses a method for bending workpieces with a bending device (12,13), wherein a robot arm (11,112) receives the workpiece to be deformed and the bending device (12,13) feeds.
  • the bending device (12, 13) is arranged stationarily opposite a substrate.
  • the robot holds the workpiece during bending (column 2, lines 5-6).
  • the workpiece is fed further to the bending device (12, 13) and optionally radially rotated (column 3, lines 51-57).
  • FR 2 747 599 A discloses a bending machine to which a robot arm is assigned.
  • the robot arm removes a tube to be deformed to make it bendable to a bending head.
  • the present invention has for its object to provide a method for bending workpieces, in particular of pipes, wires, rod materials, semi-finished od. Like., Which eliminates the disadvantages mentioned and with which time and cost reshaped workpieces in one operation or bent If necessary, a final inspection is carried out immediately after bending.
  • a bending unit consisting of at least one bending device.
  • the workpiece is then deformed or bent under permanent or batch feed by means of the robot.
  • the workpiece is picked up directly by the robot or a gripper arm of a robot and fed directly to a bending head of the bending device.
  • the robot can rotate the workpiece with the corresponding gripper arm radially, should this be necessary.
  • a conventional tensioning device or a conventional tensioning feed device can thereby be dispensed with.
  • the workpiece After bending a certain area, the workpiece can be picked up by means of the robot or its gripping arm, in order, for example, to directly clamp it back into the bending device or its bending head in order, for example, to machine another end of a workpiece. This is not possible by the conventional bending process.
  • the workpiece is removed by means of the robot from a storage container and fed to the bending unit or the at least one bending device for deforming or bending. After bending, the bent workpiece can be fed to a tray.
  • the robot then grips a new workpiece to be deformed or bent from the storage container and feeds it back to the at least one bending device in a permanent or intermittent manner.
  • the robot arm in particular its gripping device take over a permanent feeding and radial rotation of the workpiece during the bending process in the bending unit.
  • bending devices roll bending heads, right / left bending heads, and bending device with mandrel devices, Abkante od. Like. Be summarized in a bending unit, which are arranged stationary relative to a substrate.
  • the bending device can be moved relative to a substrate and in particular to the robot.
  • the at least one bending device can be moved back and forth relative to the robot on a cross slide, a rail system, a linear system or the like manually and / or automatically controllable.
  • a storage container can not serve a conveyor belt, a receptacle, a machine, such as a cutting machine or a transfer robot, which transfers the workpiece for forming the robot or makes available.
  • the robot then transfers the finished workpiece to a tray, which may be a conveyor belt, a storage container, a machine for further processing or a transfer robot, around the finished workpiece Processing.
  • a tray which may be a conveyor belt, a storage container, a machine for further processing or a transfer robot, around the finished workpiece Processing.
  • the invention is not limited thereto.
  • the robot may feed the workpiece to a measuring device or guide the finished workpiece along the measuring device so that the complete contour of the finished workpiece is recorded in three planes as an actual value and backed up Target value is compared. This automatically results in a final inspection after bending and forming the workpiece. If the workpiece does not correspond to the setpoint value or its tolerance range, subsequent bending can take place, in which the robot feeds the workpiece again to bend the bending unit. Only after renewed positive control in the measuring device then the workpiece of the tray for further processing or processing is transferred.
  • a workpiece can be fully automatically integrated into a manufacturing process taken from a storage container, in the bending unit or the at least one bending device can be deformed or bent and then possibly after that Intermediate control of a tray can be supplied.
  • Intermediate control of a tray can be supplied.
  • an installation R 1 according to the invention for bending any desired workpieces 1 has a storage container 2 in which a plurality of workpieces 1 are mounted.
  • Under the storage container 2 may also be a conveyor belt, which, for example, a plurality of workpieces, which may have been preprocessed understood.
  • the storage container 2 can also be a robot or the like.
  • a conveying device which provides the workpieces 1 of the installation R 1 to be deformed or bent.
  • the system R 1 is assigned at least one robot 3.
  • the robot 3 has a robot arm 4, which is subdivided into several sections, with an end-side gripping device 5. With the gripping device 5, the robot 3 grasps the workpiece 1 to be deformed or bent and, after removal from the storage container 2, supplies it to the at least one bending device 6.
  • a bending unit 7 more bending device 6 different types, depending on the requirement of the workpiece to be bent.
  • the individual bending devices may be designed as, for example, roll bending heads, right-handed and / or left-bending heads, folding devices or the like, in order to deform a workpiece in different ways.
  • the workpiece 1 is fed by means of the robot 3 to the at least one bending device 6 of the bending unit 7, bent there, and, after bending, is fed further in the X direction for a renewed bending of the at least one bending device 6.
  • the robot assumes only the feed function in the illustrated X direction and the radial rotation of the workpiece 1 in the illustrated Y direction. In this way, a workpiece 1 can be deformed in three planes, in particular bent.
  • the robot 3 or its gripping device 5 can resume the workpiece 1 at another position in order to continue the bending process as described above.
  • the finished workpiece 1 is fed by means of the robot 3 a tray 8 and stored there.
  • a tray 8 As a shelf 8, a conveyor belt, a takeover robot, storage container od. Like. Serve.
  • the invention is not limited thereto.
  • a system R 2 is described, which is approximately corresponds to the Appendix R 1 . It is different here that between the bending unit 7 and the tray 8, a measuring device 9 is interposed.
  • the finished bent or deformed workpiece 1 is removed from the bending unit 7 by means of the robot 3 after deformation or after bending and guided along the measuring device 9, wherein the curved contour of the workpiece 1 is moved via the measuring device 9.
  • a desired state of the bent workpiece 1 is determined and compared with a stored actual value and / or tolerance field. If the actual value deviates inappropriately from the target value, the workpiece 1 can be returned to the bending unit 7 for subsequent bending and correction bending by means of the robot 3. Subsequently, a further control of the bent or deformed workpiece 1 in the measuring device 9 is carried out only after agreement of target value to the actual value, the deformed or bent workpiece 1 of the tray 8 is then supplied or passed to this.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Shaping Of Tube Ends By Bending Or Straightening (AREA)
  • Manipulator (AREA)

Abstract

In a process for bending workpieces, particularly pipes, wires, bars, semi-finished products, sheet metal or the like, with at least one bending device, at least one robot is to pick up the workpiece to be shaped and feeds it to the at least one bending device for shaping, in particular bending.

Description

Die Erfindung betrifft ein Verfahren zum Biegen von Werkstücken, insbesondere von Rohren, Drähten, Stangenmaterialien, Halbzeugen, Blechen od. dgl. mit zumindest einer Biegeeinrichtung.The invention relates to a method for bending workpieces, in particular of pipes, wires, bar materials, semi-finished products, sheets od. Like. With at least one bending device.

Bei herkömmlichen Verfahren zum Biegen von Werkstücken wird mittels einer Zuführeinrichtung beispielsweise mittels eines Kreuzschlittens das zu verformende Werkstück einem Biegekopf einer Biegemaschine zugeführt. Dabei wird das Werkstück mittels einer Spanneinrichtung, beispielsweise einer Spannzange aufgenommen und mittels des Kreuzschlittens dem Biegekopf zugeführt. Nachteilig hierbei ist, dass ein Einlegen des Werkstückes, ein Einrichten des Werkstückes auf die Biegeeinrichtung zeitaufwendig ist.In conventional methods for bending workpieces, the workpiece to be deformed is fed to a bending head of a bending machine by means of a feed device, for example by means of a cross slide. In this case, the workpiece is picked up by means of a clamping device, for example a collet, and fed to the bending head by means of the cross slide. The disadvantage here is that an insertion of the workpiece, setting up the workpiece on the bending device is time-consuming.

Ferner ist nachteilig, dass bei einem herkömmlichen Verfahren zum Biegen von Werkstücken ein manuelles Einlegen in die Biegeeinrichtung bzw. Biegemaschine erforderlich ist. Auch ein Entnehmen und ein Zuführen der Werkstücke einer Endkontrolle folgt meistens in manueller Weise.Furthermore, it is disadvantageous that in a conventional method for bending workpieces, a manual insertion into the bending device or bending machine is required. Also, a removal and feeding the workpieces of a final inspection usually follows in a manual manner.

Auch ist im Stand der Technik bekannt, dass bspw. mittels eines herkömmlichen Roboters eine Spanneinrichtung bzw. eine Spannzange einer Biegemaschine mit Werkstücken bestückt wird, die dann in der Biegemaschine fertiggestellt werden. Auf diese Weise ist die Einsatzmöglichkeit einer Biegemaschine beschränkt.It is also known in the art that, for example, by means of a conventional robot, a clamping device or a collet of a bending machine is equipped with workpieces, which are then completed in the bending machine. In this way, the possibility of using a bending machine is limited.

Zudem müssen die Werkstücke in einer Biegemaschine gebogen bzw. umgeformt werden. Sollten andere Biege- und Umformprozesse erforderlich sein, so wird das Werkstück einer weiteren Biegeeinrichtung zum weiteren Bearbeiten zugeführt. Dabei erfolgt keine exakte Endkontrolle des Biegezustandes im Prozess.In addition, the workpieces must be bent or reshaped in a bending machine. If other bending and forming processes are required, the workpiece is fed to a further bending device for further processing. There is no exact final check of the bending state in the process.

Die EP-A-554533 wird als nächstliegender Stand der Technik gegenüber dem Gegenstand des Anspruchs 1 angesehen. Sie offenbart ein Verfahren zum Biegen von Werkstücken mit einer Biegevorrichtung (12,13), wobei eine Roboterarm (11,112) das zu verformende Werkstück aufnimmt und der Biegeeinrichtung (12,13) zuführt. Die Biegeeinrichtung (12,13) ist ortsfest gegenüber einem Untergrund angeordnet. Der Roboter hält das Werkstück während des Biegens fest (Spalte 2, Zeilen 5-6). Zum weiteren Biegen wird das Werkstück der Biegeeinrichtung (12,13) weiter zugeführt und gegebenenfalls radial verdreht (Spalte 3, Zeilen 51-57).EP-A-554533 is considered to be the closest prior art to the subject-matter of claim 1. It discloses a method for bending workpieces with a bending device (12,13), wherein a robot arm (11,112) receives the workpiece to be deformed and the bending device (12,13) feeds. The bending device (12, 13) is arranged stationarily opposite a substrate. The robot holds the workpiece during bending (column 2, lines 5-6). For further bending, the workpiece is fed further to the bending device (12, 13) and optionally radially rotated (column 3, lines 51-57).

ln Spalte 2, Zeilen 5-6, wird angegeben, daß der Roboter während des ganzen Verfahrens das Werkstück nicht löst. Damit ist ebenfalls offenbart, daß der Roboter das Werkstück während dem Zuführen in die zumindest eine Biegeinrichtung während des Biegens festhält.In column 2, lines 5-6, it is stated that the robot does not release the workpiece during the whole process. Thus, it is also disclosed that the robot holds the workpiece during the feeding into the at least one bending device during the bending.

Die FR 2 747 599 A offenbart eine Biegemaschine, welcher ein Roboterarm zugeordnet ist. Der Roboterarm entnimmt ein zu verformendes Rohr um dieses einem Biegekopf zum Biegen zuzuführen.FR 2 747 599 A discloses a bending machine to which a robot arm is assigned. The robot arm removes a tube to be deformed to make it bendable to a bending head.

Ähnliche Handlingsysteme sind aus der US 5,187,958 A sowie der US 5,182,936 A offenbart. Dort werden über entsprechende Arme Greifeinrichtungen vorgesehen, die dem entnehmen von Werkstücken dienen.Similar handling systems are disclosed in US 5,187,958 A and US 5,182,936 A. There will be over corresponding arms provided gripping means which serve to remove workpieces.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Biegen von Werkstücken, insbesondere von Rohren, Drähten, Stangenmaterialien, Halbzeugen od. dgl. zu schaffen, welches die genannten Nachteile beseitigt und mit welchem zeit- und kostengünstig Werkstücke in einem Arbeitsgang umgeformt oder gebogen werden und ggf. eine Endkontrolle unmittelbar nach dem Biegen optimiert erfolgt.The present invention has for its object to provide a method for bending workpieces, in particular of pipes, wires, rod materials, semi-finished od. Like., Which eliminates the disadvantages mentioned and with which time and cost reshaped workpieces in one operation or bent If necessary, a final inspection is carried out immediately after bending.

Diese Aufgabe wird durch den Gegenstand des Anspruchs 1 gelöst.This object is solved by the subject matter of claim 1.

Bei der vorliegenden Erfindung hat sich als besonders vorteilhaft erwiesen, mittels eines Roboters ein WertstückIn the present invention has proven to be particularly advantageous by means of a robot a value

aufzunehmen und dieses einer Biegeeinheit, bestehend aus zumindest einer Biegeeinrichtung zuzuführen. In der Biegeeinrichtung wird dann das Werkstück unter permanenter oder schubweiser Zufuhr mittels des Roboters verformt bzw. gebogen. receive and supply this a bending unit consisting of at least one bending device. In the bending device, the workpiece is then deformed or bent under permanent or batch feed by means of the robot.

Dabei wird das Werkstück unmittelbar vom Roboter bzw. einem Greifarm eines Roboters aufgenommen und einem Biegekopf der Biegeeinrichtung direkt zugeführt. Dabei kann der Roboter mit dem entsprechenden Greifarm das Werkstück entsprechend radial verdrehen, sollte dies erforderlich sein. Eine herkömmliche Spanneinrichtung bzw. eine herkömmliche Spannzuführeinrichtung kann dadurch entfallen.The workpiece is picked up directly by the robot or a gripper arm of a robot and fed directly to a bending head of the bending device. In this case, the robot can rotate the workpiece with the corresponding gripper arm radially, should this be necessary. A conventional tensioning device or a conventional tensioning feed device can thereby be dispensed with.

Nach dem Biegen eines bestimmten Bereiches lässt sich das Werkstück mittels des Roboters bzw. dessen Greifarm, aufnehmen, um bspw. umgekehrt dieses wieder in die Biegeeinrichtung bzw. dessen Biegekopf direkt einzuspannen, um bspw. ein anderes Ende eines Werkstückes zu bearbeiten. Dies ist nach dem herkömmlichen Biegeverfahren nicht möglich.After bending a certain area, the workpiece can be picked up by means of the robot or its gripping arm, in order, for example, to directly clamp it back into the bending device or its bending head in order, for example, to machine another end of a workpiece. This is not possible by the conventional bending process.

Dabei wird das Werkstück mittels des Roboters aus einem Vorratsbehältnis entnommen und der Biegeeinheit bzw. der zumindest einen Biegeeinrichtung zum Verformen oder Biegen zugeführt. Nach dem Biegen kann das gebogene Werkstück einer Ablage zugeführt werden. Der Roboter greift dann ein neues zu verformendes oder zu biegendes Werkstück aus dem Vorratsbehältnis und führt dieses permanent oder schubweise wieder der zumindest einen Biegeeinrichtung zu. Dabei kann der Roboterarm, insbesondere dessen Greifeinrichtung ein permanentes Zuführen und radiales Verdrehen des Werkstückes während des Biegeprozesses in der Biegeeinheit übernehmen.In this case, the workpiece is removed by means of the robot from a storage container and fed to the bending unit or the at least one bending device for deforming or bending. After bending, the bent workpiece can be fed to a tray. The robot then grips a new workpiece to be deformed or bent from the storage container and feeds it back to the at least one bending device in a permanent or intermittent manner. In this case, the robot arm, in particular its gripping device take over a permanent feeding and radial rotation of the workpiece during the bending process in the bending unit.

Als Biegeeinrichtungen können Rollbiegeköpfe, Rechts-/Linksbiegeköpfe, sowie Biegeeinrichtung mit Dorneinrichtungen, Abkanteinrichtungen od. dgl. in einer Biegeeinheit zusammengefasst sein, welche stationär gegenüber einem Untergrund angeordnet sind.As bending devices roll bending heads, right / left bending heads, and bending device with mandrel devices, Abkante od. Like. Be summarized in a bending unit, which are arranged stationary relative to a substrate.

Im Rahmen der vorliegenden Erfindung soll jedoch auch liegen, dass die Biegeeinrichtung gegenüber einem Untergrund und insbesondere gegenüber dem Roboter verfahrbar ist. Vorzugsweise kann die zumindest eine Biegeeinrichtung gegenüber dem Roboter auf einem Kreuzschlitten, einem Schienensystem, einem Linearsystem od. dgl. manuell und/oder automatisch steuerbar hin- und herbewegbar sein.In the context of the present invention, however, it should also be understood that the bending device can be moved relative to a substrate and in particular to the robot. Preferably, the at least one bending device can be moved back and forth relative to the robot on a cross slide, a rail system, a linear system or the like manually and / or automatically controllable.

Auf diese Weise lassen sich unterschiedlich grosse bzw. unterschiedlich lange Werkstücke unterschiedlichster Art mit dem vorliegenden Verfahren bearbeiten. Auch sehr lange Rohre können hierdurch entsprechend des Roboters aufgenommen und in der Biegeeinrichtung gebogen werden, indem der Roboter direkt den Biegeköpfen der Biegeeinrichtung das verformende Werkstück zuführt. Dies soll ebenfalls im Rahmen der vorliegenden Erfindung liegen.In this way, different sized or different lengths of workpieces of various types can be processed with the present method. Even very long tubes can thereby be picked up according to the robot and bent in the bending device by the robot directly supplying the bending heads of the bending device, the deforming workpiece. This should also be within the scope of the present invention.

Als Vorratsbehältnis kann kein Fliessband, ein Aufnahmebehältnis, eine Maschine, wie beispielsweise eine Ablängmaschine oder ein Übergaberoboter dienen, der das Werkstück zum Verformen dem Roboter übergibt oder zur Verfügung stellt.As a storage container can not serve a conveyor belt, a receptacle, a machine, such as a cutting machine or a transfer robot, which transfers the workpiece for forming the robot or makes available.

Nach dem Verformen oder Biegen des Werkstückes übergibt dann der Roboter das fertiggestellte Werkstück einer Ablage, die ein Fliessband, ein Vorratsbehältnis, eine Maschine zur weiteren Bearbeitung oder ein Übergaberoboter sein kann, um das fertiggestellte Werkstück einer weitere Verarbeitung zuzuführen. Hierauf sei die Erfindung nicht beschränkt.After the workpiece has been deformed or bent, the robot then transfers the finished workpiece to a tray, which may be a conveyor belt, a storage container, a machine for further processing or a transfer robot, around the finished workpiece Processing. The invention is not limited thereto.

In einem erweiterten Ausführungsbeispiel der vorliegenden Erfindung kann nach dem Fertigstellen des Werkstückes der Roboter das Werkstück einer Messeinrichtung zuführen bzw. das fertiggestellte Werkstück entlang der Messeinrichtung führen, so dass die vollständige Kontur des fertiggestellten Werkstückes in drei Ebenen als Ist-Wert aufgenommen und mit einem hinterlegten Soll-Wert verglichen wird. Hierdurch erfolgt automatisch nach dem Biegen und Umformen des Werkstückes eine Endkontrolle. Sollte das Werkstück nicht dem Soll-Wert oder dessen Toleranzbereich entsprechen, so kann ein Nachbiegen erfolgen, in dem der Roboter das Werkstück zum Nachbiegen der Biegeeinheit erneut zuführt. Erst nach erneuter positiver Kontrolle in der Messeinrichtung wird dann das Werkstück der Ablage zur weiteren Verarbeitung oder Bearbeitung übergeben.In an extended embodiment of the present invention, after completion of the workpiece, the robot may feed the workpiece to a measuring device or guide the finished workpiece along the measuring device so that the complete contour of the finished workpiece is recorded in three planes as an actual value and backed up Target value is compared. This automatically results in a final inspection after bending and forming the workpiece. If the workpiece does not correspond to the setpoint value or its tolerance range, subsequent bending can take place, in which the robot feeds the workpiece again to bend the bending unit. Only after renewed positive control in the measuring device then the workpiece of the tray for further processing or processing is transferred.

Bei der vorliegenden Erfindung hat sich als besonders vorteilhaft erwiesen, dass auf sehr schnelle Weise ein Werkstück vollautomatisiert in einen Fertigungsprozess eingebunden von einem Vorratsbehältnis entnommen werden kann, in der Biegeeinheit bzw. der zumindest einen Biegeeinrichtung umgeformt oder gebogen werden kann und dann ggf. nach erfolgter Zwischenkontrolle einer Ablage zugeführt werden kann. Hierdurch können erhebliche Fertigungskosten sowie auch Herstellungskosten der Anlage zum Verformen und Biegen von Werkstücken eingespart werden.In the present invention has proved to be particularly advantageous that a workpiece can be fully automatically integrated into a manufacturing process taken from a storage container, in the bending unit or the at least one bending device can be deformed or bent and then possibly after that Intermediate control of a tray can be supplied. As a result, significant manufacturing costs and manufacturing costs of the system for deforming and bending workpieces can be saved.

Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnung; diese zeigt in

  • Figur 1 eine schematisch dargestellte Draufsicht auf eine Anlage zum Biegen von Werkstücken;
  • Figur 2 eine schematisch dargestellte Ansicht der Anlage gemäss Figur 1 als weiteres Ausführungsbeispiel.
Further advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing; this shows in
  • Figure 1 is a schematic plan view of a system for bending workpieces;
  • Figure 2 is a schematic view of the system according to Figure 1 as a further embodiment.

Gemäss Figur 1 weist eine erfindungsgemässe Anlage R1 zum Biegen von beliebigen Werkstücken 1 ein Vorratsbehältnis 2 auf, in welchem eine Mehrzahl von Werkstücken 1 gelagert sind. Unter dem Vorratsbehältnis 2 kann auch ein Fliessband, welches beispielsweise eine Mehrzahl von Werkstücken, die ggf. vorbearbeitet wurden, verstanden werden.According to FIG. 1, an installation R 1 according to the invention for bending any desired workpieces 1 has a storage container 2 in which a plurality of workpieces 1 are mounted. Under the storage container 2 may also be a conveyor belt, which, for example, a plurality of workpieces, which may have been preprocessed understood.

Das Vorratsbehältnis 2 kann auch ein Roboter od. dgl. Fördereinrichtung sein, welches die zu verformenden oder zu biegenden Werkstücke 1 der Anlage R1 zur Verfügung stellen.The storage container 2 can also be a robot or the like. A conveying device which provides the workpieces 1 of the installation R 1 to be deformed or bent.

Wesentlich ist bei der vorliegenden Erfindung, dass der Anlage R1 zumindest ein Roboter 3 zugeordnet ist. Der Roboter 3 weist einen in mehreren Teilstücke untergliederter Roboterarm 4 mit einer endseitigen Greifeinrichtung 5 auf. Mit der Greifeinrichtung 5 ergreift der Roboter 3 das zu verformende bzw. zu biegende Werkstück 1 und führt dieses nach dem Entnehmen aus dem Vorratsbehältnis 2 der zumindest einen Biegeeinrichtung 6 zu.It is essential in the present invention that the system R 1 is assigned at least one robot 3. The robot 3 has a robot arm 4, which is subdivided into several sections, with an end-side gripping device 5. With the gripping device 5, the robot 3 grasps the workpiece 1 to be deformed or bent and, after removal from the storage container 2, supplies it to the at least one bending device 6.

Es können mehrere Biegeeinrichtung 6 unterschiedlicher Art, je nach Anforderung des zu biegenden Werkstückes, als Biegeeinheit 7 zusammengefasst sein. Dabei können die einzelnen Biegeeinrichtungen als beispielsweise Rollbiegeköpfe, Rechts- und/oder Linksbiegeköpfe, Abkanteinrichtungen od. dgl. ausgebildet sein, um ein Werkstück auf unterschiedliche Weise zu verformen.It can be summarized as a bending unit 7 more bending device 6 different types, depending on the requirement of the workpiece to be bent. The individual bending devices may be designed as, for example, roll bending heads, right-handed and / or left-bending heads, folding devices or the like, in order to deform a workpiece in different ways.

Wichtig ist dabei, dass die Zufuhr in angedeuteter X-Richtung sowie das Verdrehen des Werkstückes 1 um die Werkstückachse in dargestellter Doppelpfeilrichtung Y mittels des Roboters 3, insbesondere des Roboterarmes 4 und dessen endseits angeordneter Greifeinrichtung 5 erfolgt. Das Werkstück 1 wird mittels des Roboters 3 der zumindest einen Biegeeinrichtung 6 der Biegeeinheit 7 zugeführt, dort gebogen, nach dem Biegen weiter in X-Richtung für eine erneute Biegung der zumindest einen Biegeeinrichtung 6 zugeführt. Dabei folgt permanent ein Vorschub in X-Richtung und/oder eine radiale Verdrehung des Werkstückes 1 mittels des Roboters 3 um das Werkstück 1 umzuformen bzw. zu verbiegen in Y-Richtung.It is important that the supply in the indicated X-direction and the rotation of the workpiece 1 about the workpiece axis in the double arrowed direction Y by means of the robot 3, in particular the robot arm 4 and its end side arranged gripping device 5 takes place. The workpiece 1 is fed by means of the robot 3 to the at least one bending device 6 of the bending unit 7, bent there, and, after bending, is fed further in the X direction for a renewed bending of the at least one bending device 6. In this case, a feed in the X direction and / or a radial rotation of the workpiece 1 by means of the robot 3 in order to reshape or bend the workpiece 1 in the Y direction.

Bevorzugt übernimmt der Roboter lediglich die Vorschubfunktion in dargestellter X-Richtung sowie das radiale Verdrehen des Werkstückes 1 in dargestellter Y-Richtung. Auf diese Weise kann ein Werkstück 1 in drei Ebenen verformt, insbesondere verbogen werden.Preferably, the robot assumes only the feed function in the illustrated X direction and the radial rotation of the workpiece 1 in the illustrated Y direction. In this way, a workpiece 1 can be deformed in three planes, in particular bent.

Ggf. kann während eines Biegeprozesses bzw. während das Werkstück 1 in Biegeeinrichtung 6 eingespannt ist, der Roboter 3 bzw. dessen Greifeinrichtung 5 das Werkstück 1 an einer anderen Stelle wieder aufnehmen, um den Biegeprozess, wie oben beschrieben, fortzuführen.Possibly. During a bending process or while the workpiece 1 is clamped in the bending device 6, the robot 3 or its gripping device 5 can resume the workpiece 1 at another position in order to continue the bending process as described above.

Nach dem Biegen wird das fertiggestellte Werkstück 1 mittels des Roboters 3 einer Ablage 8 zugeführt und dort abgelegt. Als Ablage 8 kann ein Fliessband, ein Übernahmeroboter, Vorratsbehältnis od. dgl. dienen. Hierauf sei die Erfindung nicht beschränkt.After bending, the finished workpiece 1 is fed by means of the robot 3 a tray 8 and stored there. As a shelf 8, a conveyor belt, a takeover robot, storage container od. Like. Serve. The invention is not limited thereto.

In einem Ausführungsbeispiel der vorliegenden Erfindung gemäss Figur 2 ist eine Anlage R2 beschrieben, die in etwa der Anlage R1 entspricht. Unterschiedlich ist hier, dass zwischen der Biegeeinheit 7 und der Ablage 8 ein Messeinrichtung 9 zwischengeschaltet ist. Das fertig gebogene oder verformte Werkstück 1 wird mittels des Roboters 3 nach dem Umformen bzw. nach dem Biegen aus der Biegeeinheit 7 entnommen und entlang der Messeinrichtung 9 geführt, wobei die gebogene Kontur des Werkstückes 1 über die Messeinrichtung 9 verfahren wird. Hierdurch wird ein Sollzustand des gebogenen Werkstückes 1 ermittelt und mit einem hinterlegten Ist-Wert und/oder Toleranzfeld verglichen. Weicht der Ist-Wert vom Soll-Wert unzulässig ab, so kann das Werkstück 1 mittels des Roboters 3 wieder der Biegeeinheit 7 zum Nachbiegen und Korrekturbiegen zugeführt werden. Anschliessend erfolgt eine weitere Kontrolle des gebogenen bzw. verformten Werkstückes 1 in der Messeinrichtung 9. Erst nach Übereinstimmung von Soll-Wert zum Ist-Wert wird dann das verformte bzw. gebogene Werkstück 1 der Ablage 8 zugeführt bzw. an diese übergeben.In an embodiment of the present invention according to Figure 2, a system R 2 is described, which is approximately corresponds to the Appendix R 1 . It is different here that between the bending unit 7 and the tray 8, a measuring device 9 is interposed. The finished bent or deformed workpiece 1 is removed from the bending unit 7 by means of the robot 3 after deformation or after bending and guided along the measuring device 9, wherein the curved contour of the workpiece 1 is moved via the measuring device 9. As a result, a desired state of the bent workpiece 1 is determined and compared with a stored actual value and / or tolerance field. If the actual value deviates inappropriately from the target value, the workpiece 1 can be returned to the bending unit 7 for subsequent bending and correction bending by means of the robot 3. Subsequently, a further control of the bent or deformed workpiece 1 in the measuring device 9 is carried out only after agreement of target value to the actual value, the deformed or bent workpiece 1 of the tray 8 is then supplied or passed to this.

PositionszahlenlistePosition Number List

11 Werkstückworkpiece 3434 6767 22 Vorratsbehältnisstorage container 3535 6868 33 Roboterrobot 3636 6969 44 Roboterarmrobot arm 3737 7070 55 Greifeinrichtunggripper 3838 7171 66 Biegevorrichtungbender 3939 7272 77 Biegeeinheitbending unit 4040 7373 88th Ablagefiling 4141 7474 99 Messeinrichtungmeasuring device 4242 7575 1010 4343 7676 1111 4444 7777 1212 4545 7878 1313 4646 7979 1414 4747 1515 4848 1616 4949 R1 R 1 Anlageinvestment 1717 5050 R2 R 2 Anlageinvestment 1818 5151 1919 5252 XX Richtungdirection 2020 5353 YY Richtungdirection 2121 5454 2222 5555 2323 5656 2424 5757 2525 5858 2626 5959 2727 6060 2828 ., 6161 2929 6262 3030 6363 3131 6464 3232 6565 3333 6666

Claims (13)

  1. Method of bending workpieces (1), in particular pipes, wires, bar stock, semi-finished products, metal sheets or the like by means of at least one bending device (6), wherein
    by means of at least one robot (3) the workpiece (1) to be shaped is picked up and fed to the at least one bending device (6) for bending, wherein the at least one bending device (6) is disposed in a stationary manner relative to a base and the at least one robot arm (4) feeds the workpiece (1) to the at least one bending device (6) and/or to bending heads thereof continuously or in batches for bending, and the robot (3) holds the workpiece (1) fast during feeding into the at least one bending device (6) during bending and for further bending effects further feeding of the workpiece to the at least one bending device (6) and radially rotates the workpiece (1), and in the bending device the workpiece (1) is bent while being fed continuously or in batches by means of the robot.
  2. Method according to claim 1, characterized in that the robot (3) continuously feeds the workpiece (1) to the at least one bending device (6).
  3. Method according to claim 1 or 2, characterized in that by means of a robot arm (4), in particular a gripping device (5) of the robot arm of the at least one robot (2), the workpiece (1) is picked up and fed directly to the at least one bending device (6) and/or directly to the bending head thereof.
  4. Method according to at least one of claims 1 to 3, characterized in that the robot arm (4) feeds the workpiece (1) in batches to the at least one bending device (6) and the bending device (6) shapes the workpiece (1) at appropriate bending points, wherein during the shaping operation optionally the robot arm (4), in particular the gripping device (5) by engaging round the workpiece (1) picks up the workpiece (1) at any desired other point optionally also in the finished region for further feeding of the workpiece (1) into the at least one bending device (6).
  5. Method according to at least one of claims 1 to 4, characterized in that by means of the at least one robot (3), in particular the at least one gripping device (5) of the robot arm (5), the workpiece (1) is picked up and fed to a plurality of bending devices (6) for the shaping of different radii, meanders, angles etc., wherein optionally the workpiece (1) is radially rotatable in the gripping device (5).
  6. Method according to claim 5, characterized in that as bending devices (6) rolling bending heads, right- and left-hand bending heads, as well as bending devices with mandrel devices, folding devices or the like are used.
  7. Method according to at least one of claims 1 to 6, characterized in that by means of the at least one robot (3), in particular robot arm (4) the workpiece (1) is removed from a storage receptacle (2), fed to the bending device (6) for shaping or bending and, after bending, fed for further machining to a deposit point (8), after which the robot arm then once more removes from the storage receptacle (2) a workpiece (1) that is to be shaped or bent.
  8. Method according to at least one of claims 1 to 7, characterized in that the at least one robot (3) after shaping or bending of a workpiece (1) conveys the workpiece along a measuring device (9) in order to acquire the shapes or bends as a setpoint value, wherein during a comparison with a stored and selected setpoint value an in-process inspection is carried out and optionally a re-shaping or re-bending operation is carried out in the at least one bending device (6) by returning the workpiece (1) by means of the robot (3) to the at least one bending device (6).
  9. Method according to claim 8, characterized in that after a re-bending or re-shaping operation the workpiece (1) is fed by means of the robot (3) to the measuring device (9) once more and it is only after a correspondence between setpoint value and actual value and/or with the defined tolerance ranges that the workpiece (1) is fed to the deposit point (8) or for further machining.
  10. Method according to at least one of claims 1 to 7, characterized in that as a deposit point (8) and/or for further machining the workpiece (1) is also transferred to a further robot, an assembly line, a machine, a storage receptacle or the like.
  11. Method according to at least one of claims 1 to 10, characterized in that by means of the robot (3) the workpiece (1) is picked up and fed in selectable regions, which are shaped, directly to the bending device (6), and/or directly to bending heads thereof, after the shaping operation is removed and fed to further regions, optionally end regions for further machining and/or shaping of the workpiece (1), wherein upon completion of machining of the workpiece (1) the robot (3), in particular the gripping device (5) thereof feeds the workpiece (1) to the discharge device or for further machining.
  12. Method according to at least one of claims 1 to 11, characterized in that the bending unit (7), in particular the bending device (6) is displaceable manually and/or automatically relative to the position of the robot (3).
  13. Method according to claim 12, characterized in that the bending unit (7), in particular the bending device (6) is displaceable automatically optionally by means of a cross slide rest, a linear system in a selectable direction or along a selectable guide system relative to the position of the robot (3), wherein the corresponding location coordinates are communicated to the robot (3).
EP04740963A 2003-08-05 2004-07-13 Method for bending workpieces Revoked EP1651367B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL04740963T PL1651367T3 (en) 2003-08-05 2004-07-13 Method for bending workpieces

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10336554 2003-08-05
DE102004012771A DE102004012771A1 (en) 2003-08-05 2004-03-15 Method for bending workpieces
PCT/EP2004/007730 WO2005016574A1 (en) 2003-08-05 2004-07-13 Method for bending workpieces

Publications (2)

Publication Number Publication Date
EP1651367A1 EP1651367A1 (en) 2006-05-03
EP1651367B1 true EP1651367B1 (en) 2007-04-18

Family

ID=34195733

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04740963A Revoked EP1651367B1 (en) 2003-08-05 2004-07-13 Method for bending workpieces

Country Status (8)

Country Link
US (1) US7373797B2 (en)
EP (1) EP1651367B1 (en)
JP (1) JP2007508144A (en)
AT (1) ATE359881T1 (en)
DE (1) DE502004003557D1 (en)
ES (1) ES2286643T3 (en)
PL (1) PL1651367T3 (en)
WO (1) WO2005016574A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11697146B2 (en) 2018-04-13 2023-07-11 Wafios Aktiengesellschaft Bending device having workpiece guidance by a multi-articulated arm robot

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101316920B1 (en) 2008-01-31 2013-10-11 가부시키가이샤 옵톤 Bending device
JP5330064B2 (en) * 2009-04-08 2013-10-30 株式会社オプトン Bending machine
JP5405878B2 (en) * 2009-04-08 2014-02-05 株式会社オプトン Bending machine
JP5405879B2 (en) * 2009-04-08 2014-02-05 株式会社オプトン Bending machine
AT516371B1 (en) * 2014-12-02 2016-05-15 Stonawski Rudolf Device for bending a profile workpiece
JP6654351B2 (en) * 2015-03-02 2020-02-26 株式会社オプトン Bending equipment
JP6387437B1 (en) * 2017-05-24 2018-09-05 株式会社アマダホールディングス Press brake
JP7128993B2 (en) * 2017-11-21 2022-09-01 東陽建設工機株式会社 rebar bending device
JP6984880B2 (en) * 2017-11-21 2021-12-22 東陽建設工機株式会社 Reinforcing bar bending device
DE102018108863A1 (en) 2018-04-13 2019-10-17 Wafios Aktiengesellschaft Bending device for elongated workpieces
CN108927427A (en) * 2018-08-16 2018-12-04 昆山汇格精密机械有限公司 A kind of manipulator automatic bending equipment
US11768574B2 (en) * 2019-05-07 2023-09-26 Hexagon Metrology, Inc. Graphical user interface for scheduling and monitoring an automated inspection process for batch production
CN110935766B (en) * 2019-12-24 2021-03-23 林义 Continuous bending device

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3431759A (en) * 1966-02-02 1969-03-11 Walker Mfg Co Forming apparatus
JPS59140027U (en) * 1983-03-09 1984-09-19 株式会社日立製作所 Rebar bender
US5182936A (en) 1988-01-29 1993-02-02 Amada Company, Limited Plate bending machine equipped with a plate clamping manipulator and a plate position detecting device
US4989444A (en) * 1988-08-09 1991-02-05 Daikin Industries, Ltd. Industrial robot for pressing system, pressing system, and method for bending plate material
JPH02165833A (en) * 1988-12-20 1990-06-26 Honda Motor Co Ltd Working method for rod-like material
JPH0335820A (en) * 1989-06-30 1991-02-15 Chuo Electric Mfg Co Ltd Bending apparatus
JPH0394921A (en) * 1989-09-08 1991-04-19 Chuo Electric Mfg Co Ltd Device for bending work
IT1237750B (en) * 1989-12-29 1993-06-15 Prima Ind Spa BENDING PROCEDURE OF A SHEET
JPH0565440U (en) 1992-02-03 1993-08-31 安川商事株式会社 Wire bending equipment
JPH06328142A (en) * 1993-05-21 1994-11-29 Komatsu Ltd Bending system
FR2747599B1 (en) 1996-04-23 1998-06-05 Witub Sa DEVICE FOR ALL TYPES OF MACHINING OF METAL TUBES
JP4221106B2 (en) * 1999-03-15 2009-02-12 株式会社アマダ Press brake
DE60016588T2 (en) * 1999-04-07 2006-03-02 Amada Co., Ltd., Isehara AUTOMATIC BENDING SYSTEM
US6269677B1 (en) * 1999-12-28 2001-08-07 Abb T&D Technology Ltd. Press brake back gauge finger
JP2002254112A (en) * 2000-12-25 2002-09-10 Yamaha Motor Co Ltd Pipe bending device
EP1291094B1 (en) * 2001-10-02 2003-03-26 FABBRICA MACCHINE CURVATUBI CRIPPA AGOSTINO S.p.A. Draw-bending machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11697146B2 (en) 2018-04-13 2023-07-11 Wafios Aktiengesellschaft Bending device having workpiece guidance by a multi-articulated arm robot

Also Published As

Publication number Publication date
EP1651367A1 (en) 2006-05-03
WO2005016574A1 (en) 2005-02-24
PL1651367T3 (en) 2007-09-28
US7373797B2 (en) 2008-05-20
ATE359881T1 (en) 2007-05-15
US20060254336A1 (en) 2006-11-16
JP2007508144A (en) 2007-04-05
ES2286643T3 (en) 2007-12-01
DE502004003557D1 (en) 2007-05-31

Similar Documents

Publication Publication Date Title
EP1651367B1 (en) Method for bending workpieces
EP2492041B1 (en) Flexible device with a pipe processing device ; Method of unloading a pipe using such device
DE2832980A1 (en) DEVICE FOR LOADING AND UNLOADING A PIPE BENDING MACHINE
EP0121077B1 (en) Pipe-bending machine
EP3344414B1 (en) Method and device for making sheet metal plates by laser cutting
WO2014048567A1 (en) Method and device for machining non-rotationally symmetrical workpieces by means of a laser beam
DE4124715C2 (en) Device for multiple bending of a metal pipe
EP3302840B2 (en) Production system for producing workpieces from sheet metal and method therefor
EP0872293A2 (en) Machine for bending of pipes and bars
WO2018162106A1 (en) Forming device and method
AT519221B1 (en) Production plant with a clamping tool and method for adjusting a total length of a bending edge of the clamping tool
DE102004012771A1 (en) Method for bending workpieces
EP1060050B1 (en) Method and device for transferring a hollow-profile blank
EP1990129A1 (en) Charging device and method for charging the machining device of a machine tool
DE3149779C2 (en) Feed and discharge device of a front lathe
DE102016112946B4 (en) Forging apparatus and method for forming a metallic work piece
DE102007008485B4 (en) Pipe bending machine with simplified batch change
EP1350578B1 (en) Machine for bending bar and/or rod-like workpieces, in particular tubes
EP4028183B1 (en) Stretch rolling device and stretch rolling method
DE10215047C1 (en) Spring winding and bending machine includes reciprocating transfer unit holding pre-formed spring end in alignment with feedwire axis
EP1919642B1 (en) Method for producing a sheet metal container
EP1641576A1 (en) Method for influencing a bending process
DE102018126336B4 (en) Method for controlling a bending machine, control for controlling a bending machine and bending machine
DE102005005989B4 (en) Method for producing a body assembly and installation for carrying out the method
DE102016117764A1 (en) Method for producing a slotted sleeve bearing sleeve

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20051219

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PL PT RO SE SI SK TR

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REF Corresponds to:

Ref document number: 502004003557

Country of ref document: DE

Date of ref document: 20070531

Kind code of ref document: P

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20070620

REG Reference to a national code

Ref country code: RO

Ref legal event code: EPE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: ARIE WUBBEN

REG Reference to a national code

Ref country code: HU

Ref legal event code: AG4A

Ref document number: E001869

Country of ref document: HU

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070918

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

ET Fr: translation filed
NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2286643

Country of ref document: ES

Kind code of ref document: T3

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

BERE Be: lapsed

Owner name: ROSENBERGER A.G.

Effective date: 20070731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070718

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: WAFIOS AKTIENGESELLSCHAFT

Effective date: 20080117

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20070731

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070719

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20070731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20070418

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20070713

PLAZ Examination of admissibility of opposition: despatch of communication + time limit

Free format text: ORIGINAL CODE: EPIDOSNOPE2

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PLBA Examination of admissibility of opposition: reply received

Free format text: ORIGINAL CODE: EPIDOSNOPE4

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20100812

Year of fee payment: 7

Ref country code: ES

Payment date: 20100825

Year of fee payment: 7

Ref country code: HU

Payment date: 20100816

Year of fee payment: 7

Ref country code: IE

Payment date: 20100730

Year of fee payment: 7

Ref country code: RO

Payment date: 20100809

Year of fee payment: 7

26 Opposition filed

Opponent name: WAFIOS AKTIENGESELLSCHAFT

Effective date: 20080117

Opponent name: EATON LEONARD EUROPE

Effective date: 20101019

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20100812

Year of fee payment: 7

Ref country code: SE

Payment date: 20100730

Year of fee payment: 7

Ref country code: TR

Payment date: 20100811

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20100819

Year of fee payment: 7

Ref country code: PL

Payment date: 20100812

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20100930

Year of fee payment: 7

Ref country code: SK

Payment date: 20101217

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100713

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CZ

Payment date: 20101231

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20100730

Year of fee payment: 7

PGRI Patent reinstated in contracting state [announced from national office to epo]

Ref country code: IT

Effective date: 20110616

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20110928

Year of fee payment: 8

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20110713

REG Reference to a national code

Ref country code: SK

Ref legal event code: MM4A

Ref document number: E 2160

Country of ref document: SK

Effective date: 20110713

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 359881

Country of ref document: AT

Kind code of ref document: T

Effective date: 20110713

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

Ref country code: HU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110714

Ref country code: CZ

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110731

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

REG Reference to a national code

Ref country code: PL

Ref legal event code: LAPE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

RDAF Communication despatched that patent is revoked

Free format text: ORIGINAL CODE: EPIDOSNREV1

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20130417

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20130329

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110714

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110714

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130201

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502004003557

Country of ref document: DE

Effective date: 20130201

RDAG Patent revoked

Free format text: ORIGINAL CODE: 0009271

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: PATENT REVOKED

27W Patent revoked

Effective date: 20130218

REG Reference to a national code

Ref country code: AT

Ref legal event code: MA03

Ref document number: 359881

Country of ref document: AT

Kind code of ref document: T

Effective date: 20130218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20110713

REG Reference to a national code

Ref country code: SE

Ref legal event code: ECNC

REG Reference to a national code

Ref country code: SE

Ref legal event code: ECNC

REG Reference to a national code

Ref country code: SE

Ref legal event code: ECNC