Manipulator device for a bending machine and a method for changing the position of the workpiece in a bending process

• US 5,042,287 A
• Filed: 03/15/1989
• Issued: 08/27/1991
• Est. Priority Date: 03/15/1988
• Status: Expired due to Term

• Current Assignee: Amada Company Limited
• Original Assignee: Amada Company Limited
• Inventors: Sartorio, Franco
• Primary Examiner(s): SPRUILL, ROBERT
• Application Number:
  US07/323,893
• Time in Patent Office: 895 Days
• Field of Search: 72/420, 72/422, 72/389.31, 414/589, 414/590, 414/738, 414/739, 414/751, 414/431, 414/758, 414/759, 414/761, 414/763, 414/772, 414/774, 414/776, 414/783
• US Class Current: 72/422
• CPC Class Codes: B21D 43/105 Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
• CPC Class Codes: B21D 5/0281 Workpiece supporting devices
• CPC Class Codes: B25J 15/02 servo-actuated
• CPC Class Codes: B25J 9/00 Programme-controlled manipulators
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons

Abstract

A manipulator device for a bending machine includes a pair of elongate die and punch for bending a workpiece. A first manipulator has a first clamping device for clamping the workpiece to be bent, a first support for supporting the first clamping device in a rotatable manner around a rotary axis parallel to the longitudinal direction of the punch and die, and a second support for supporting the first support in a movable manner in a X-axis direction parallel to the longitudinal direction of the punch and die, in a Y-axis direction perpendicular to the X-axis direction, and in a Z-axis direction parallel to the vertical direction. A second manipulator has a second clamping device for clamping the workpiece, an arm for supporting the second clamping device, and a column for supporting the arm in a rotatable manner around a rotary axis parallel to the Y-axis, the column being so constructed as to be movable toward and away from the first manipulator.

Claims

1. A manipulator device for a bending machine which includes an elongate die and punch set for bending a workpiece comprising:

a first manipulator having,

a first clamping means for clamping the workpiece to be bent,

a first support means for supporting the first clamping means in a rotatable manner around a rotary axis parallel to the longitudinal direction of the punch and die, and

a second support means for supporting the first support means in a movable manner in a X-axis direction parallel to the longitudinal direction of the punch and the die, in a Y-axis direction perpendicular to the X-axis direction, and in a Z-axis direction parallel to the vertical direction; and

a second manipulator having,

a second clamping means for clamping the workpiece,

an arm means for supporting the second clamping means, and

a column means for supporting the arm means in a rotatable manner around a rotary axis parallel to the Y-axis, the column means being so constructed as to be movable toward and away from the first manipulator.

2. The manipulator device for a bending machine of claim 1, wherein the second support means further comprises

an X-axis guide means which is extended in the X-axis direction when used by the bending machine;

a first moving means supported on the X-axis guide means in a manner which allows free movement in the X-axis direction;

a second moving means which is supported on the first moving means in a freely movable manner in the vertical direction of the Z-axis and is provided with a Y-axis guide means for supporting the first support means in a freely movable manner in the Y-axis direction.

3. The manipulator device for a bending machine of claim 2, wherein a length of the X-axis guide member is greater than the width in the X-axis direction of the bending machine, and the first moving means is constructed so that it can move from the front position of the workpiece bending machine to a side position thereof along the X-axis guide member.

4. The manipulator device for a bending machine of claim 2, wherein the first support means is provided with a cross member which extends in the X-axis direction, and the first workpiece clamping means comprises a pair of manipulator heads provided on the two ends of the cross member.

5. The manipulator device for a bending machine of claim 4, wherein said ends of the cross member comprise a right end section and a left end section, wherein a right and a left bracket member which project toward the bending machine are provided on the right and left end sections of the cross member respectively, and the manipulator heads are so provided on the bracket members to face each other.

6. The manipulator device for a bending machine of claim 5, wherein the pair of left and right bracket members are provided on the cross member in a freely movable manner therealong.

7. The manipulator device for a bending machine of claim 6, having front and rear side sections, wherein each of the manipulator heads comprise:

a pair of fixed jaws positioned in mutual opposition in a specified space;

a movable body positioned between the fixed jaws in the manner which allows free movement between the fixed jaws; and

a pair of movable jaws secured on the front and rear side sections with respect to the movement of the movable body, and which are capable of forming a clamping state with each of the fixed jaws when the movable body moves toward the side of either of the fixed jaws.

8. The manipulator device for a bending machine of claim 7, wherein clamping surfaces of the two pairs of jaws formed from a fixed jaw and a movable jaw are different in width.

9. The manipulator device for a bending machine of claim 8, wherein the manipulator head is provided on the bracket member in a freely rotating manner about an axis parallel to the longitudinal direction of the cross member.

10. The manipulator device for a bending machine of claim 9, wherein the pair of manipulator head are formed so that they are simultaneously rotated through a spline shaft provided along the cross member.

11. The manipulator device for a bending machine of claim 4, wherein an auxiliary support member for the workpiece is provided close to the center of the cross member to support the workpiece.

12. The manipulator device for a bending machine of claim 1, a base means installed on the opposite side of the bending machine from the first manipulator is provided, and a bottom end section of the column means is supported on the base means in a freely swinging manner in the Y-axis direction.

13. A method of automatically changing orientation of a workpiece with respect to a bending machine for bending the workpiece in order to perform bendings on opposite longitudinal edges and in opposite directions in the workpiece to form a processed workpiece, comprising the steps of:

placing the workpiece in front of the bending machine with a longitudinal edge of said workpiece disposed parallel to a horizontal bending axis of the bending machine;

clamping the workpiece along the opposite longitudinal edge thereof by means of a clamping means;

rotating the clamping means and the workpiece gripped thereby about a horizontal axis perpendicular to the bending axis of the bending machine;

moving the clamping means toward the bending machine in order to transfer the workpiece to another clamping means;

moving the other clamping means in the vertical direction and toward the clamping means in order to receive the workpiece from the clamping means;

clamping the workpiece by means of the other clamping means along a shorter edge of the workpiece;

rotating the other clamping means and the workpiece gripped thereby about a horizontal axis parallel to the bending axis of the bending machine; and

moving the other clamping means and the gripped workpiece in the direction parallel to the bending axis in order to unload the processed workpiece.