EP3225322A3 - Method and bending machine for making a multi-dimensional curved bent component - Google Patents

Method and bending machine for making a multi-dimensional curved bent component Download PDF

Info

Publication number
EP3225322A3
EP3225322A3 EP17161088.4A EP17161088A EP3225322A3 EP 3225322 A3 EP3225322 A3 EP 3225322A3 EP 17161088 A EP17161088 A EP 17161088A EP 3225322 A3 EP3225322 A3 EP 3225322A3
Authority
EP
European Patent Office
Prior art keywords
rotational position
workpiece
bending machine
rotation
clamping 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.)
Granted
Application number
EP17161088.4A
Other languages
German (de)
French (fr)
Other versions
EP3225322B1 (en
EP3225322A2 (en
Inventor
Volker Kalkau
Claus Denkinger
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.)
Wafios AG
Original Assignee
Wafios 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
Application filed by Wafios AG filed Critical Wafios AG
Publication of EP3225322A2 publication Critical patent/EP3225322A2/en
Publication of EP3225322A3 publication Critical patent/EP3225322A3/en
Application granted granted Critical
Publication of EP3225322B1 publication Critical patent/EP3225322B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B21D7/00—Bending rods, profiles, or tubes
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
    • 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
    • B21D43/003—Positioning devices
    • 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

Abstract

Bei einem Verfahren zur Herstellung eines zwei- oder dreidimensional gebogenen Biegeteils aus einem abgelängten rohr- oder stabförmigen Werkstück (W) mittels einer numerisch gesteuerten wird das Werkstück vor einer Biegeoperation mithilfe einer Markierung (M) an der Umfangsfläche in eine Soll-Drehlage bezüglich seiner Längsmittelachse gebracht und anschließend gebogen. Dazu wird ein Endabschnitt des Werkstücks in eine Spannvorrichtung (110) der Biegemaschine eingespannt. Die Spannvorrichtung ist mittels einer Rotationseinheit um eine Drehachse (112) drehbar und parallel zur Drehachse verfahrbar. Das Verfahren ist gekennzeichnet durch eine automatische Ausrichtoperation mit folgenden Schritten: Erfassen der Markierung (M) mittels eines Kamerasystems (160); Ermitteln von Drehlageninformation aus mindestens einem Messbild des Kamerasystems (160); und Steuern der Rotationseinheit in Abhängigkeit von der ermittelten Drehlageninformation zur Drehung des eingespannten Werkstücks (W) mittels der Spannvorrichtung (110) in die Soll-Drehlage, wenn sich das Werkstück nach dem Einspannen nicht in der Soll-Drehlage befindet. Beschrieben wird auch eine zur Durchführung des Verfahrens konfigurierte Biegemaschine.

Figure imgaf001
In a method for producing a two- or three-dimensionally bent bent part from a cut tubular or rod-shaped workpiece (W) by means of a numerically controlled workpiece before a bending operation by means of a mark (M) on the peripheral surface in a desired rotational position with respect to its longitudinal central axis brought and then bent. For this purpose, an end portion of the workpiece is clamped in a clamping device (110) of the bending machine. The clamping device is rotatable about a rotation axis (112) by means of a rotation unit and can be moved parallel to the axis of rotation. The method is characterized by an automatic alignment operation comprising the steps of: detecting the mark (M) by means of a camera system (160); Determining rotational position information from at least one measurement image of the camera system (160); and controlling the rotational unit in response to the determined rotational position information for rotation of the clamped workpiece (W) by means of the clamping device (110) in the desired rotational position when the workpiece is not in the desired rotational position after clamping. Also described is a bending machine configured to perform the method.
Figure imgaf001
EP17161088.4A 2016-03-29 2017-03-15 Method and bending machine for making a multi-dimensional curved bent component Active EP3225322B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016205137.7A DE102016205137B4 (en) 2016-03-29 2016-03-29 Method and bending machine for producing a multi-dimensionally bent bent part

Publications (3)

Publication Number Publication Date
EP3225322A2 EP3225322A2 (en) 2017-10-04
EP3225322A3 true EP3225322A3 (en) 2017-10-18
EP3225322B1 EP3225322B1 (en) 2020-05-13

Family

ID=58347206

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17161088.4A Active EP3225322B1 (en) 2016-03-29 2017-03-15 Method and bending machine for making a multi-dimensional curved bent component

Country Status (2)

Country Link
EP (1) EP3225322B1 (en)
DE (1) DE102016205137B4 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017207612A1 (en) * 2017-05-05 2018-11-08 Wafios Aktiengesellschaft Method for producing a bent part and bending machine for carrying out the method
IT201800007479A1 (en) * 2018-07-24 2020-01-24 METHOD AND EQUIPMENT FOR POWERING METALLIC ELEMENTS OF ELONGATED FOGGIA
AT521619B1 (en) * 2018-08-28 2020-03-15 Trumpf Maschinen Austria Gmbh & Co Kg Method for operating a bending machine
AU2019222835A1 (en) * 2018-09-05 2020-03-19 Blm S.P.A. Machine for the working of tubes provided with an optical sensor for measuring the forward displacement of the tube being worked and/or the rotational displacement of the same about the longitudinal axis thereof
DE102020203394A1 (en) 2020-03-17 2021-09-23 Wafios Aktiengesellschaft Method for producing a bent part from a pipe
CN112916678B (en) * 2021-01-21 2022-08-19 青岛沃明汽车管制造有限公司 Steel pipe bending machine
CN114453467B (en) * 2021-12-28 2024-01-02 株洲兆源机电科技有限公司 Open-loop type expanding machine suitable for flat conducting bars

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4947666A (en) * 1988-09-16 1990-08-14 The Boeing Company Method and apparatus for bending an elongate workpiece
DE19712685A1 (en) * 1997-03-26 1998-10-01 Erbsloeh Ag Extrusion moulding multiple bending method
JP2003170226A (en) * 2001-12-06 2003-06-17 Mitsubishi Heavy Ind Ltd Apparatus and method for bending pipe
WO2014088801A1 (en) * 2012-12-05 2014-06-12 Dignity Health Surgical rod bending system and method

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5533146A (en) * 1978-08-30 1980-03-08 Dainippon Screen Mfg Co Ltd Photoelectric element for detecting and positioning register mark for engraving
AT381766B (en) * 1983-09-05 1986-11-25 Lisec Peter DEVICE FOR TURNING PROFILE BARS
JPS60234728A (en) * 1984-05-04 1985-11-21 Hitachi Cable Ltd Blanking method of long-sized strip
DE102010013688B4 (en) 2010-04-01 2013-09-26 Wafios Ag Bending device for elongated workpieces
DE102011006101B4 (en) 2011-03-25 2015-12-24 Wafios Ag Method for producing a bent part and bending machine for carrying out the method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4947666A (en) * 1988-09-16 1990-08-14 The Boeing Company Method and apparatus for bending an elongate workpiece
DE19712685A1 (en) * 1997-03-26 1998-10-01 Erbsloeh Ag Extrusion moulding multiple bending method
JP2003170226A (en) * 2001-12-06 2003-06-17 Mitsubishi Heavy Ind Ltd Apparatus and method for bending pipe
WO2014088801A1 (en) * 2012-12-05 2014-06-12 Dignity Health Surgical rod bending system and method

Also Published As

Publication number Publication date
EP3225322B1 (en) 2020-05-13
DE102016205137A1 (en) 2017-10-05
DE102016205137B4 (en) 2017-12-14
EP3225322A2 (en) 2017-10-04

Similar Documents

Publication Publication Date Title
EP3225322A3 (en) Method and bending machine for making a multi-dimensional curved bent component
EP2581165A3 (en) Method for determining a tool's change of position, tool and the tool control system
EP3733308A3 (en) Method and device for surface finishing
EP1961502A3 (en) Method and device for bending workpieces
EP2378381A3 (en) Method and device for compensating for temperature-dependent positioning changes on a machine tool
EP2685333A3 (en) Method for controlling a tool
EP1980374A3 (en) Robot control, industrial robot and method for obtaining an absolutely precise model
EP2226183A3 (en) Method for applying a paint film to a part of a vehicle
EP2371748A3 (en) Method for determining at least one regulating parameter of a dancer controlling element
EP2131207A3 (en) Method and device for determining the relative position of moved objects
EP2388109A3 (en) Method for machining composite components
EP2479554A3 (en) Device and method for determining the friction between plastic hollow bodies with the same material composition
EP2952303A3 (en) Method for handling flexible mesh-like workpieces
EP2388194A3 (en) Stringer positioning
DE102012100281A1 (en) Method and device for removing errors
DE102013021389A1 (en) Method for polishing of component, involves applying predetermined force to component in transverse direction and vertical direction by lightweight robot and moving component in trajectory direction
EP1744231A3 (en) Device and method for quality control of markings
EP3141867A3 (en) Method and device for synchronizing a first local environment map with a second local environment map in an environment of a motor vehicle
EP4246361A3 (en) System and method for controlling a rotational moulding process
EP3242176A3 (en) Method for cogging a workpiece
EP2458135A3 (en) Method and device for semi-automatic adjustment of a handling device
EP2679147A3 (en) Method and device for encoding eye and viewing direction data
EP3139228A3 (en) Method for producing one or more workpieces
EP2517847A3 (en) Device for fixing a workpiece by an operator
EP2287781A3 (en) Device for processing workpieces

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

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

AK Designated contracting states

Kind code of ref document: A3

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIC1 Information provided on ipc code assigned before grant

Ipc: B21D 43/00 20060101ALI20170908BHEP

Ipc: B21D 7/024 20060101AFI20170908BHEP

Ipc: B21D 7/14 20060101ALI20170908BHEP

Ipc: B21D 7/12 20060101ALI20170908BHEP

Ipc: G01B 11/26 20060101ALI20170908BHEP

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180405

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200121

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017005201

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1269579

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200615

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200513

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

Ref country code: IS

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: 20200913

Ref country code: SE

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: 20200513

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: 20200513

Ref country code: NO

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: 20200813

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: 20200914

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: 20200814

Ref country code: LT

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: 20200513

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

Ref country code: LV

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: 20200513

Ref country code: RS

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: 20200513

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: 20200813

Ref country code: HR

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: 20200513

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: 20200513

Ref country code: AL

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: 20200513

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200513

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: 20200513

Ref country code: SM

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: 20200513

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: 20200513

Ref country code: ES

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: 20200513

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017005201

Country of ref document: DE

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200513

Ref country code: PL

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: 20200513

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20210216

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

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: 20200513

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200513

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Effective date: 20210315

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210331

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

Ref country code: LI

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

Effective date: 20210331

Ref country code: LU

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

Effective date: 20210315

Ref country code: CH

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

Effective date: 20210331

Ref country code: IE

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

Effective date: 20210315

Ref country code: GB

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

Effective date: 20210315

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: 20210331

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

Ref country code: FR

Payment date: 20230320

Year of fee payment: 7

Ref country code: CZ

Payment date: 20230303

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1269579

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220315

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

Ref country code: HU

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

Effective date: 20170315

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

Ref country code: DE

Payment date: 20230320

Year of fee payment: 7

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: 20200513

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: 20220315

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

Ref country code: IT

Payment date: 20230331

Year of fee payment: 7