WO2004058428A2 - Elbow rotator - Google Patents
Elbow rotator Download PDFInfo
- Publication number
- WO2004058428A2 WO2004058428A2 PCT/US2003/040915 US0340915W WO2004058428A2 WO 2004058428 A2 WO2004058428 A2 WO 2004058428A2 US 0340915 W US0340915 W US 0340915W WO 2004058428 A2 WO2004058428 A2 WO 2004058428A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- elbow
- gripping
- fingers
- pair
- workpiece
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
- B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
- B21C37/15—Making tubes of special shape; Making tube fittings
- B21C37/28—Making tube fittings for connecting pipes, e.g. U-pieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
- B21C37/06—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of tubes or metal hoses; Combined procedures for making tubes, e.g. for making multi-wall tubes
- B21C37/12—Making tubes or metal hoses with helically arranged seams
- B21C37/124—Making tubes or metal hoses with helically arranged seams the tubes having a special shape, e.g. with corrugated wall, flexible tubes
- B21C37/125—Making tubes or metal hoses with helically arranged seams the tubes having a special shape, e.g. with corrugated wall, flexible tubes curved section, e.g. elbow
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/49—Method of mechanical manufacture
- Y10T29/49428—Gas and water specific plumbing component making
- Y10T29/49444—Elbow or L-shaped fitting making
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5191—Assembly
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
- Y10T29/5199—Work on tubes
Definitions
- This invention relates, in general, to an elbow rotator apparatus for use with elbow sections of ductwork, and deals more particular with an elbow rotator apparatus that will automatically turn each section of an elbow duct to its proper orientation.
- Elbow sections of ductwork are typically formed as straight pieces of cylindrical ductwork prior to being manipulated into a finished elbow having a substantial bend attributed thereto. This manipulation has traditionally been accomplished by hand.
- Figure 1 illustrates a straight elbow section of ductwork, or elbow workpiece, having a plurality of integrally formed sections.
- Figure 2 illustrates a finished elbow section of ductwork.
- Figure 3 is partial cross-sectional view of an elbow machine having an elbow rotator, wherein the elbow workpiece is in a first position, according to one embodiment of the present invention.
- Figure 4 is partial cross-sectional view of an elbow machine having an elbow rotator, wherein the elbow workpiece is in a second position, according to one embodiment of the present invention.
- Figure 5 is partial cross-sectional view of an elbow machine having an elbow rotator, wherein the elbow workpiece is in a finished position, according to one embodiment of the present invention.
- Figure 6 is partial cross-sectional view of an elbow machine having an elbow rotator, wherein the elbow rotator is tilted back to permit removal of the finished elbow unit, according to one embodiment of the present invention.
- Figure 7 is a front, partial cross-sectional view of the elbow rotator of the present invention.
- Figure 8 is a top, partial cross-sectional view of the elbow rotator of the present invention.
- Figure 9 is a side, partial cross-sectional view of the elbow rotator of the present invention.
- Figure 10 is partial cross-sectional side view of a free standing elbow rotator, according to another embodiment of the present invention.
- Figure 11 is a partial cross-sectional end view of a gripping arm of the free standing elbow rotator in its 'up' position.
- Figure 12 is a partial cross-sectional top view of the gripping arms of the free standing elbow rotator in their 'down' position and secured about their respective sections of the elbow workpiece.
- Figure 13 is a partial cross-sectional side view of the gripping arms of the free standing elbow rotator after rotation back to their 'up' position, thereby forming a completed elbow.
- Figure 14 is a partial cross-sectional end view of a gripping arm of the free standing elbow rotator.
- Figure 15 illustrate the gripping arm of Figure 14 as it accommodates elbow workpieces of differing diameters.
- Figure 16 is a partial cross-sectional end view of the gripping arms of the free standing elbow rotator in both its 'up' and 'down' positions.
- Figure 1 illustrates a section of an elbow ductwork 10 prior to the elbow 10 being rotated into its final form.
- the elbow 10 includes several sections 12 that have been formed by bending a sheet-metal workpiece, or the like, into a cylindrical shape about a common seam 14.
- Each of the sections 12 are separated from one another by an elbow joint 16 which has been cut and formed in the elbow 10 in a manner well known in the art.
- each of the section 12 of the elbow 10 shown in Fig. 1 must be turned with respect to one another in order to form the finished elbow 18, shown in Fig. 2.
- the seam 14 is no longer continuous along the length of the finished elbow 18 due to the individual rotation of the sections 12.
- each of the sections 12 experience an approximately 180° rotation with respect to adjacent sections in order to provide the 'bend', typically approximately 90°, to the finished elbow (as shown in Fig. 2).
- the present invention provides a heretofore unknown apparatus having the ability to automate the rotation of the individual sections 12 of an elbow workpiece. It should be noted that while a rotation of approximately 180° has been described, other angles of rotation may also be accomplished without departing from the broader aspects of the present invention.
- FIG 3 illustrates an elbow machine 20 equipped with an elbow rotator 22 of the present invention.
- an elbow workpiece 24 is mounted within the elbow machine 20 after the elbow workpiece 24 has been formed by the elbow machine 20 in accordance with a known process.
- a first section 26 of the elbow workpiece 24 is then rotated by the elbow rotator 22, as shown in Fig. 3, in a manner to be explained shortly.
- Figures 4 and 5 illustrate the subsequent rotation, and corresponding re-orientation, of additional sections of the elbow workpiece 24 by the elbow rotator 22.
- Figure 6 illustrates the finished elbow workpiece 24 and, in phantom, a new elbow workpiece 28 being mounted for similar processing.
- the elbow rotator 22 is preferably mounted on an inclined work surface 30 of the elbow machine 20 so as to accept and automatically manipulate each section of the elbow workpiece 24 as each joint of the elbow workpiece 24 is formed by the elbow machine 20.
- Figure 7 is a front, partial cross sectional view of the elbow rotator 22.
- the elbow rotator 22 includes a pair of gripping arms 32 having flexible, resilient pads 34 disposed on the ends thereof.
- a hydraulic cylinder 36, or the like, is utilized to close the gripping arms 32 about a lead section of the elbow workpiece 24.
- the gripping arms 32 will grip the elbow workpiece 24 with a force commensurate with the hydraulic pressure applied to the cylinder 36.
- cylinder 36 is disposed between the gripping arms 32 and does not control the position of the gripping arms 32, which will center themselves about and on the elbow workpiece 24 as the elbow workpiece is being rotated.
- a frame 38 is rotatably mounted on the inclined work surface 30 about pivot joints 40 and substantially supports elbow rotator 22. It will be readily appreciated that while hydraulic cylinders have been discussed in connection with the present invention, other alternative designs, such as but not limited to pneumatic systems, may be utilized without departing from the broader aspects of the present invention.
- Figure 8 illustrates a top, partial cross-sectional view of the elbow rotator 22.
- the gripping arms 32 are mounted to a gripping frame 42 which selectively pivots about an axis A that is substantially perpendicular to the plane of the joint and is centered on the axis of the joint.
- the gripping frame 42 is rotated by a roller chain 44 driven by a rotary actuator 46.
- the rotary actuator 46 will selectively cause the frame 42 and gripping arms 32 to rotate approximately 180°.
- a sprocket 48 is located on the rotary actuator 46 includes more teeth than a similar sprocket 50 located on the frame 42 in order to provide rotation of more than 180°, should such a rotation be desired.
- Stroke limiters are utilized on the rotary actuator 46 to adjust the amount of rotation that is produced.
- an adjustable torque limiter 52 is utilized in conjunction with the rotary actuator 46 to limit the available torque that will rotate the elbow workpiece 24.
- each section 12 of the elbow workpiece 24 is sequentially gripped by the gripping arms 32 and rotated approximately 180° under the direction of the rotary actuator 46.
- the rotary actuator 46 is returned to its home position.
- the gripper frame 42 rotates back by only the amount over 180° that a given section 12 of the elbow workpiece 24 may have been rotated. In such instances, the gripper frame 42 is stopped by a ratchet and pawl wheel assembly 54 (seen in Figure 9) at the 180° position, while torque limiter 52 slips to allow the rotary actuator 46 to continue rotating to its home position.
- each successive section 12 of the elbow workpiece 24 may be rotated in the same direction and, moreover, the direction of rotation may be easily reversed by changing the configuration of the ratchet and pawl assembly 54 and reversing the home position of the rotary actuator 46.
- Figure 9 illustrates a side, partial cross-sectional view of the elbow rotator 22.
- the elbow rotator 22 includes a hydraulic positioning cylinder 56 which selectively causes the elbow rotator 22 to pivot about pivot joints 40.
- the frame 38 along with the gripping arms 32 and rotary actuator 46 may be selectively tipped back at the conclusion of each elbow production cycle (the position illustrated in Fig. 6) so as to provide enough clearance to remove the finished elbow from the elbow machine 20 and insert the new elbow workpiece 28.
- the frame 38 would then be tilted back to its operative position to ready for the next elbow production cycle.
- the elbow rotator 22 of the present invention may automatically and sequentially rotate differing sections of a formed elbow workpiece to their proper orientation without the need for manual manipulation of the same.
- the production of finished elbow units may therefore be substantially increased as compared to manual production methods currently in use.
- the elbow rotator 22 resets to a known 'home position' prior to each rotation, and further, that the elbow rotator 22 may even compensate for the slight rotation of the first section of the elbow workpiece, the present invention is capable of repetitively producing finished elbow units having substantially uniform characteristics and mechanical tolerances.
- Figures 3-9 illustrate the elbow rotator 22 being integrated with the elbow formation machine 20, the present invention is not limited in this regard. Indeed, the present invention contemplates a free standing elbow rotator apparatus that is not integrated with another device or apparatus, rather it may be a wholly separate unit for accomplishing the same general task as the elbow rotator 22, discussed above.
- Figure 10 illustrates a partial cross-sectional side view of a free standing elbow rotator 40, in accordance with another embodiment of the present invention.
- the free standing elbow rotator 40 includes a housing 42 and an inclined work surface 44 contained therein.
- adjustable elbows workpieces are initially manufactured as straight tubes having a series of integrated sections. After an elbow machine has finished making the joints in the elbow workpiece, it is still in a straight shape (as seen in Figure 1). The elbow workpiece must then be rotated into its angled configuration and joined together with other elbows to form a "donut". This donut arrangement is the preferred method of shipping elbows for many manufacturers.
- a 90 degree elbow consists of four sections 12, such as shown in Figure 2. As mentioned previously, each section 12 must be rotated approximately 180 degrees relative to the adjacent sections 12 to position the elbow in its 90 degree shape. There are other elbow configurations that have fewer sections and may result in different angles of the rotated elbow, but all typically require the 180 degree rotation of the adjacent sections in order to produce a finished, or completed, elbow configuration.
- the free standing elbow rotator 40 further includes a pair of gripping arms 46 and 48.
- Each of the gripping arms 46 and 48 support several pairs of gripping fingers 50 and are oriented for selective rotation about rotational axis R.
- the gripping fingers 50 of the gripping arms 46 and 48 will selectively secure about each section 12 of the elbow workpiece and rotate them to their finished orientation, as will be described in more detail hereinafter. While the free standing elbow rotator 40 has been described as having several pairs of gripping fingers 50 for each of the gripping arms 46/48, the present invention is not limited in this regard as the gripping arms 46/48 may alternatively support any number of pairs of gripping fingers 50, inclusive of a single pair, without departing from the broader aspects of the present invention.
- the free standing elbow rotator 40 of the present invention serves to significantly reduce the manufacturing time of elbow workpieces, especially as contrasted with the previously known manual rotation of the sections 12 of the elbow workpiece.
- an operator will load a straight elbow workpiece 52 into the free standing elbow rotator 40, from the front and substantially in a direction L.
- the straight elbow workpiece 52 is preferably loaded so as to ensure that the seam 14 is up and the crimped end out.
- FIG. 11 is a partial cross-sectional view of the straight elbow workpiece 52/54 as it is arranged within the free standing elbow rotator 40 with the gripping arms 46 and 48, and gripping fingers 50, in their 'up' position.
- a cam and roller arrangement permits each of the gripping arms 46 and 48 to pivot as they rotate down. As each of the gripping arms 46 and 48 reach their 'down' position, each of the gripping fingers 50 will contact an adjustable stop 56 to arrest each of the gripping fingers 50 in the proper starting position to grip the sections 12. The stops 56 are manually adjustable to produce the correct amount of rotation to each of the sections 12. With the gripping arms 46 and 48 in their 'down' position, the gripping arms 50 are caused to close about each section 12 of the elbow workpiece 52/54. As shown in Figure 12, the gripping fingers 50 of adjacent sections 12 are connected to gripping arms 46 and 48.
- FIG. 12 illustrates the free standing elbow rotator 40 when the gripping arms 46 and 48 are in their 'down' position, and the gripping fingers 50 are each secured about their respective sections 12 of the elbow workpiece 52/54.
- one gripping arm rotates 90 degrees clockwise while the other gripping arm rotates approximately 90 degrees counterclockwise. As the arms rotate, they swing out approximately 15 degrees to follow the arching movement of the elbow workpiece 52/54.
- Each set of the gripping fingers 50 is mounted to the gripping arms 46 and 48 by a pivoted joint so the gripping fingers 50 may twist with the elbow workpiece 52/54 as it is rotated.
- the rotations of the two gripping arms 46/48 are synchronized by a chain and sprocket assembly and operatively connected to two shafts 58 that are geared together, as shown in Figure 12.
- FIG. 13 illustrates a side, partial cross-sectional view of the completed elbow workpiece 60 once the gripping arms 50 have completed their upwards rotation.
- FIG 14 illustrates an end view of one set of the gripping fingers 50 attached to one of the gripping arms 46/48.
- the distal ends of the gripping fingers are each equipped with a resilient and elastic cushioning bumper 62, such as but not limited to a urethane bumper or the like, for protecting the body of the elbow workpiece 52/54 during operation of the free standing elbow rotator 40.
- a pneumatic cylinder 64, or the like, is utilized to selective cause the gripping fingers 50 to alternatively expand and constrict about the body of the elbow workpiece 52/54.
- the gripping fingers 50 of the gripping arms 46/48 may be selectively configured to match elbow workpieces 52/54 of differing diameters. That is, by changing the attachment points 66 of the gripping fingers 50 on the gripping arm 46/48, as well as by changing the attachment points 68 of the gripping fingers 50 to the cylinder 64 itself, it is thus possible to accurately accommodate elbow workpieces 52/54 of differing diameters.
- at least one of the gripping arms 46/48 also includes a sliding bar 70 which may be selectively positioned, via friction bolts or the like, to extend a predetermined distance, thus selectively abutting adjustable stop 56 and arresting thereby the rotation of the gripping arms 46/48 during its downward rotation, as illustrated in Figure 16.
- each section 12 is usually rotated slightly out of alignment with respect to one another.
- Each sectionl2 must therefore be rotated a different amount to have the proper alignment at the end of the rotation.
- the present invention envisions that one pair of gripping fingers 50 on each gripping arm 46/48 is mounted on a sliding bar 70 so that it may be stopped before the gripping arm 46/48 is fully rotated down.
- the gripping arm 46/48 is rotated down, it is stopped at a different starting position to match the starting position of its respective elbow section 12.
- the gripping arm 50 is therefore stopped at the position for the sliding gripping fingers 50 to match the starting position of its respective elbow section 12.
- each sectionl2 is therefore in its proper, final position.
- the present invention provides a rotator for elbow workpieces which automatically performs the rotation of respective sections of the elbow workpiece, thereby automating what has traditionally been a laborious, difficult and time consuming process.
- the elbow rotator may be provided in conjunction with an elbow forming machine, thus rotating each section of the elbow workpiece as it is formed, or alternatively, that a free standing elbow rotator may be utilized for simultaneously accomplishing rotation of all of the sections of an elbow workpiece after it has been formed.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03814304A EP1594636A2 (en) | 2002-12-23 | 2003-12-23 | Elbow rotator |
JP2005510045A JP2006522278A (en) | 2002-12-23 | 2003-12-23 | Elbow Rotator |
AU2003301222A AU2003301222A1 (en) | 2002-12-23 | 2003-12-23 | Elbow rotator |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US43609702P | 2002-12-23 | 2002-12-23 | |
US60/436,097 | 2002-12-23 | ||
US49342603P | 2003-11-07 | 2003-11-07 | |
US60/493,426 | 2003-11-07 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2004058428A2 true WO2004058428A2 (en) | 2004-07-15 |
WO2004058428A3 WO2004058428A3 (en) | 2005-07-14 |
Family
ID=32685435
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2003/040915 WO2004058428A2 (en) | 2002-12-23 | 2003-12-23 | Elbow rotator |
Country Status (5)
Country | Link |
---|---|
US (1) | US7328510B2 (en) |
EP (1) | EP1594636A2 (en) |
JP (1) | JP2006522278A (en) |
AU (1) | AU2003301222A1 (en) |
WO (1) | WO2004058428A2 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7096585B2 (en) * | 2003-08-06 | 2006-08-29 | Cleveland Tool & Machine, Inc. | Apparatus and method for automated production of adjustable duct member |
US7797805B2 (en) * | 2005-06-17 | 2010-09-21 | Formtek, Inc. | Formation and rotational apparatus for cylindrical workpieces |
MY159453A (en) * | 2008-05-22 | 2017-01-13 | Jinwoong Tech Co Ltd | Manufacturing apparatus and method of spiral duct including elbow |
US20100170318A1 (en) * | 2009-01-08 | 2010-07-08 | Formtek, Inc. | Elbow formation apparatus |
US9561536B2 (en) | 2013-03-15 | 2017-02-07 | Cleveland Tool & Machine, Inc. | Apparatus and method for production of adjustable duct member |
EP2907598B1 (en) * | 2014-02-18 | 2016-06-15 | C.R.F. Società Consortile per Azioni | Method for manufacturing a camshaft for an internal combustion engine, by expanding a tubular element with a high pressure fluid and simultaneously compressing the tubular element axially |
WO2018231218A1 (en) | 2017-06-14 | 2018-12-20 | Cleveland Tool & Machine, Inc. | Apparatus and method for production of duct members |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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US4693663A (en) * | 1984-10-05 | 1987-09-15 | Donaldson Company, Inc. | Robot with articulated arm |
US4806066A (en) * | 1982-11-01 | 1989-02-21 | Microbot, Inc. | Robotic arm |
US4913617A (en) * | 1988-07-20 | 1990-04-03 | Martin Marietta Energy Systems, Inc. | Remote tong/tool latch and storage bracket for an advanced servo-manipulator |
US4921393A (en) * | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
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US606785A (en) * | 1898-07-05 | William a | ||
US2534429A (en) * | 1946-11-06 | 1950-12-19 | Price Co H C | Pipe bending machine |
US3490137A (en) * | 1967-09-11 | 1970-01-20 | Gen Metalcraft Inc | Elbow forming methods and machines |
US3670553A (en) * | 1970-03-02 | 1972-06-20 | Grover Machine Co | Tube bending machine |
US3731513A (en) * | 1971-07-08 | 1973-05-08 | Bell Telephone Labor Inc | Method and apparatus for bending an elongated object |
US3815394A (en) * | 1971-09-15 | 1974-06-11 | Elbows Automatic Inc | Machine and method for forming tubular adjustable elbows |
US3861184A (en) * | 1973-09-27 | 1975-01-21 | Knudson Gary Art | Bending apparatus for forming elbows and the like |
US3979809A (en) * | 1973-12-24 | 1976-09-14 | Johann Friedrich Schneider | Pipe elbow and method of making same |
JPS53137861A (en) * | 1977-05-09 | 1978-12-01 | Takasago Thermal Engineering | Manufacturing method of curved pipe |
US4210090A (en) * | 1978-09-01 | 1980-07-01 | Potomac Applied Mechanics, Inc. | Formation of radius elbows and O.G. sets |
ES8604432A1 (en) * | 1983-10-31 | 1986-02-01 | Foster Wheeler Energy Corp | Fabricating pipe elbows |
JPS63266294A (en) * | 1987-04-18 | 1988-11-02 | 永田熔接工業株式会社 | Intermediate working plate material for single elbow pipe |
JPH0646078B2 (en) * | 1989-05-30 | 1994-06-15 | 株式会社ダクト産業 | Bent tube manufacturing method |
US4991293A (en) * | 1989-08-02 | 1991-02-12 | Proprietary Technology, Inc. | Means for providing very small bend radii in the tube-like structures |
US5090101A (en) * | 1990-09-18 | 1992-02-25 | Iowa Precision Industries, Inc. | Duct corner installation tool |
JPH05237730A (en) * | 1992-02-28 | 1993-09-17 | Ishikawajima Harima Heavy Ind Co Ltd | Piping assembling device |
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US6378184B1 (en) * | 1998-01-19 | 2002-04-30 | Cleveland Tool & Machine | Apparatus and method for manufacturing ducts |
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JP2000108064A (en) * | 1998-10-06 | 2000-04-18 | Kawasaki Steel Corp | Mounting device for tube end screw protective tool and operating method therefor |
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US6612143B1 (en) * | 2001-04-13 | 2003-09-02 | Orametrix, Inc. | Robot and method for bending orthodontic archwires and other medical devices |
US7096585B2 (en) * | 2003-08-06 | 2006-08-29 | Cleveland Tool & Machine, Inc. | Apparatus and method for automated production of adjustable duct member |
US7159428B2 (en) * | 2003-08-07 | 2007-01-09 | Met-Coil Systems Corporation | Pre-beading method and apparatus |
-
2003
- 2003-12-23 AU AU2003301222A patent/AU2003301222A1/en not_active Abandoned
- 2003-12-23 JP JP2005510045A patent/JP2006522278A/en active Pending
- 2003-12-23 EP EP03814304A patent/EP1594636A2/en not_active Withdrawn
- 2003-12-23 US US10/744,279 patent/US7328510B2/en not_active Expired - Fee Related
- 2003-12-23 WO PCT/US2003/040915 patent/WO2004058428A2/en active Search and Examination
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4806066A (en) * | 1982-11-01 | 1989-02-21 | Microbot, Inc. | Robotic arm |
US4693663A (en) * | 1984-10-05 | 1987-09-15 | Donaldson Company, Inc. | Robot with articulated arm |
US4921393A (en) * | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
US4913617A (en) * | 1988-07-20 | 1990-04-03 | Martin Marietta Energy Systems, Inc. | Remote tong/tool latch and storage bracket for an advanced servo-manipulator |
Also Published As
Publication number | Publication date |
---|---|
AU2003301222A8 (en) | 2004-07-22 |
JP2006522278A (en) | 2006-09-28 |
AU2003301222A1 (en) | 2004-07-22 |
US7328510B2 (en) | 2008-02-12 |
US20040158986A1 (en) | 2004-08-19 |
WO2004058428A3 (en) | 2005-07-14 |
EP1594636A2 (en) | 2005-11-16 |
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