Bending apparatus and robot with rotatable gripping device

Abstract

The invention relates to a robot (1) for structural parts (2), in particular for sheet metal parts, and a bending device (37). The robot (1) comprises a base body (4) which can be mounted in a fixed position or which can be moved along a guide device (3), a first pivot arm (6) which is pivotably coupled to the base body (4) via a horizontal first pivot axis (5), a second pivot arm (8) which is pivotably coupled to the first pivot arm (6) via a horizontal second pivot axis (7), and a third pivot arm (10) which is pivotably coupled to the second pivot arm (8) via a horizontal third pivot axis (9). A first rotary axis (11) is formed on the third pivot arm (10), which extends radially with respect to the third pivot axis (9). Furthermore, a gripper support arm (12) is formed, which is rotatably coupled to the third pivot arm (10) via the first rotary axis (11) and which extends radially with respect to the first rotary axis (11). A gripping device (13) is rotatably coupled to the gripper support arm (12) via a second rotary axis (14), which is spaced apart from the first rotary axis (11).

Description

TECHNICAL FIELD

[0001] The present invention relates to a robot for components, in particular for sheet metal parts, and a bending device. BACKGROUND

[0002] In modern machining centers, workpiece and component transport is usually fully automated. In order to manipulate components, in particular bent workpieces and profiles, the use of robots with gripping devices, in particular with negative pressure and / or vacuum grippers, has become widespread. However, the use of these gripping devices for small components and profiles is limited or involves greater expenditure of force. For example, for small components and profiles to be bent and, in this case, bent several times, it is necessary to change the holding between the individual machining and / or bending steps and, if necessary, several times. The laying down and / or changing of the holding extends the machining time and thus has a negative impact on the unit costs.

[0003] To solve this problem, the person skilled in the art is familiar with special, custom-made gripping devices that can be used to bend small components and profiles. However, such gripping devices are technically and structurally complex and are not universally applicable. Gripping devices that use tongs grippers in various embodiments are also known from the prior art. Here, it is common to provide auxiliary devices to pick up, temporarily fix, lay down and transport components of different sizes. However, their use is not satisfactory, as additional devices have to be provided for small components. Furthermore, not all component geometries and bending parts are suitable for the auxiliary manipulation using tongs grippers. For example, EP 2688693 B1 proposes a manufacturing device with an auxiliary device for intermediate positioning of a workpiece, wherein the auxiliary device comprises interacting holding elements. This enables complex gripping and / or repositioning of components and / or profiles.

[0004] Special, custom-made vacuum gripping devices are also used in an attempt to overcome the disadvantages of the prior art. WO 2019012990 A1 proposes a workpiece supply device with which the gap size of the rising portion of a sheet workpiece can be reduced when bending. An example of this is EP 0354559 B1, which suggests that an industrial robot delivers sheet material into a plate bender, wherein the industrial robot comprises an arm portion which contains a holding portion for holding the material and a release device for terminating the holding by the holding portion.

[0005] The use of known custom-made gripping devices or also the use of additional gripping devices to change the holding extends the processing and / or set-up time, which is why processing small components is uneconomical and takes more time. SUMMARY

[0006] The problem to be solved by the present invention is to overcome the disadvantages of the prior art and to provide a device by which a user can accurately and easily feed small parts, in particular sheet metal parts with a relatively short leg length, into a process in a technically simple manner and can handle these parts in a cost-efficient manner. This is achieved in particular by means of a standard gripping device.

[0007] The above-mentioned problem is solved by the robot and the bending device according to the present invention.

[0008] The present invention relates to a robot for parts, in particular for sheet metal parts, wherein the robot is configured to pick up, transport, hold and / or deposit parts. The robot comprises a base body, which can preferably be moved along a guide device. In this case, the guide device comprises in particular a linearly extending rail guide or a linear rail element. The linear rail element can preferably be aligned parallel to a longitudinal axis of a bending table of a bending machine. Alternatively, the robot or its base body can also be positioned in a fixed manner, in particular anchored firmly to a floor. The base body can also be configured to be rotatable about a vertical rotation axis. The robot comprises a first pivot arm, which is pivotably coupled to the base body via a horizontal first pivot axis, a second pivot arm, which is pivotably coupled to the first pivot arm via a horizontal second pivot axis, a third pivot arm, which is pivotably coupled to the second pivot arm via a horizontal third pivot axis, wherein a first rotation axis extending radially with respect to the third pivot axis is formed on the third pivot arm. According to the invention, a gripper support arm is formed, which is rotatably coupled to the third pivot arm via the first rotation axis, wherein the gripper support arm extends radially with respect to the first rotation axis, and wherein a gripping device is rotatably coupled to the gripper support arm via a second rotation axis, which is spaced apart from the first rotation axis.

[0009] The robot configuration according to the invention enables efficient machining of parts, particularly curved parts. The robot configured according to the invention is capable not only of—and as known from the prior art—of pivoting motion about a horizontal axis, but also of rotational motion about at least two axes of rotation. This provides the advantage that for parts requiring several machining or bending steps, there is no need to lower and / or change the holding position. The use of the robot according to the invention is particularly advantageous for small parts and profiles. In particular, in the case of small parts and profiles to be bent, and especially those to be bent multiple times, there is no need to change the holding position between individual machining or bending steps. This reduces machining time and has a positive impact on unit cost. Furthermore, the robot configuration according to the invention allows the robot to be moved relatively close to the bending machine or relatively close to the lower tool arranged on the bending table. The quasi-eccentric or offset configuration provided by the gripper support arm of the robot allows the gripping device and the part held by the gripping device to be close to, and even possibly directly to, the bending machine, particularly the lower tool of the bending machine. This type of extension makes it possible to machine or bend parts in several stages without the need for the usually time-consuming repositioning of the gripper. Another advantage is that standard gripping devices can be arranged or installed by providing a quasi-eccentric gripper support arm, thus eliminating the need for expensive and / or technically complex custom products. The robot according to the invention provides performance and time advantages for parts or sheet metal parts with relatively short leg lengths to be shaped. These relatively short leg lengths can even exist in the portion between the robot or its gripping device and the lower tool of the bending machine, that is, can be positioned in the robot-side feed area of ​​the bending machine. By simplifying the movement of the robot, the associated programming complexity is also reduced. Therefore, programming is both faster and less error-prone. Collisions can be avoided by reducing or even eliminating complex and risky hold variations. The risk of collisions can be further reduced due to the generally increased distance between the robot and the machine in its adjacent or manipulating area, particularly the bending machine. Overall process reliability is improved by reducing or even eliminating position failures or potential vacuum losses by avoiding hold variations.

[0010] It should be clearly pointed out that the phrase "the robotic arm includes a first pivot arm pivotally connected to the base via a horizontal first pivot axis" can mean a direct connection between the base and the first pivot arm, but it can also mean an indirect connection between the base and the first pivot arm. Therefore, the robotic arm can be, for example, a three-axis robotic arm and a six-axis robotic arm, particularly a six-axis articulated robot. Within the technical understanding of those skilled in the art, various embodiments are implemented, and those skilled in the art will adapt the type and number of pivots to the corresponding requirements of a particular application.

[0011] Furthermore, it can be advantageous that the first and second rotation axes are arranged parallel to each other. Due to this advantageous advancement, a technically or structurally simpler robot structure can be realized. The parallelism of the two rotation axes can also be advantageous for the programmability or so-called 'teaching' of the robot.

[0012] The gripping device can also be provided to comprise a base element rotatably mounted on the gripper support arm and a gripper element couplable to the base element as required, which gripper element is in particular exchangeable without any tools. The provision of a rotatably mounted base element makes it technically possible for the gripping device to rotate about the second rotation axis. By providing a gripper element couplable to the base element as required, various types of gripper elements can be arranged, or the gripper element can be exchanged in the event of a malfunction or maintenance and repair work. If the gripper element can be exchanged without tools or with a small number of work steps, such maintenance and repair work can be carried out particularly easily and quickly if required. It can be advantageous that the gripper element which can be arranged on the base element is a standard gripper element, i.e. no special configuration or specially tailored adapter is required for coupling to the base element.

[0013] Furthermore, the gripper element can be provided to comprise a gripper tongs and / or a magnetic gripper. Depending on the type, size or geometry of the components or sheet metal parts provided for machining or handling, it can be advantageous to use a gripper tongs and / or a magnetic gripper. Universal gripper tongs or magnetic grippers and their advantages and disadvantages are sufficiently known to the person skilled in the art, so that a further explanation of these is not required here. It can be advantageous that the gripper element comprises a gripper tongs or a magnetic gripper, between which two types of gripper elements can be changed or reconfigured. However, it can also be advantageous that the gripper element is configured as a combined gripper element having the functions of a gripper tongs and a magnetic gripper.

[0014] A further advantageous embodiment provides a gripper element comprising a negative pressure gripper and at least one negative pressure gripper element formed on the negative pressure gripper. Universal negative pressure grippers are sufficiently known to the person skilled in the art, so that a further explanation is not required. In particular, the at least one negative pressure gripper element can be a suction cup or a similar suction cup-like application device, which is configured for sealing abutment with a component. In principle, the gripper element can be configured as a combined gripper element and, depending on the specific requirements, the functions of, for example, a gripper tongs, a magnetic gripper and / or a negative pressure gripper can be combined.

[0015] According to one improvement, a vacuum line can be formed as a rotary joint in the transition section between the third pivot arm and the gripper support arm and / or in the transition section between the gripper support arm and the gripping device. The vacuum line can be formed to supply negative pressure to the gripper. For trouble-free or fault-resistant operation of the manipulator, it is advantageous that the required vacuum line is not attached to the outside of the manipulator, but is at least partially arranged within the pivot arm and the gripper support arm. For this purpose, a suitable rotary joint can be provided in the transition section, allowing rotation or turning of the gripper support arm and / or the gripping device to occur without the risk of damaging the vacuum line. The technical configuration of the rotary joint is well known to those skilled in the art and therefore requires no further explanation.

[0016] Furthermore, it may be advantageous that the gripper support arm is rotatably connected to the third pivot arm via a coupling, which can be activated and deactivated as needed, by means of a first pivot bearing. Forming a releasable connection between the third pivot arm and the gripper support arm may be advantageous, as it means that the gripper support arm can be replaced, for example, to accommodate a longer alternative gripper support arm.

[0017] Furthermore, the gripping device can be configured to be rotatably connected to the gripper support arm by means of a second pivot bearing. The second pivot bearing allows the gripping device to rotate about its own axis, that is, about a second axis of rotation.

[0018] Furthermore, a torque support can be rotatably fixed on the third pivot arm, preferably forming a releasable torque support. This torque support can advantageously be positioned on the portion of the third pivot arm facing the gripper support arm. The second axis of rotation can rotate relative to the first axis of rotation by means of the torque support rotatably fixed on the third pivot arm. This allows for the joint drive of the gripper support arm and the gripping device.

[0019] According to a specific embodiment, a toothed belt drive can be formed, comprising a first gear rotatably fixed relative to a first axis of rotation and a second gear rotatable about a second axis of rotation, the toothed belt drive including a belt that connects the first and second gears in motion. This toothed belt drive is configured to adjust the angular position of the gripping device. By providing the toothed belt drive, the gripping device and the gripper support arm can be coupled in motion. Thus, a common actuator for the gripping device and the gripper support arm can be advantageously formed. This is because no separate mechanism for moving these two elements is provided, thereby enabling a relatively simple technical configuration. The control of such a rotary actuator or toothed belt drive is known to those skilled in the art and therefore requires no further explanation here.

[0020] Alternatively, a separate controllable rotary drive can be assigned to the first gearwheel. This rotary drive can be positioned on the gripper support arm. Preferably, such a rotary drive is formed centrally with respect to the first rotary axis or arranged relatively closer to the first rotary axis than to the second rotary axis. Similar measures can be applied to the first spur gearwheel of the spur gear transmission described below. This can result in an advantageous weight ratio or a structurally determined low load torque at the gripper end or tool center point of the robot hand. This can maintain a relatively high load capacity or performance of the robot hand.

[0021] In an advantageous refinement, the first gearwheel can be provided to comprise a larger diameter than the second gearwheel. Providing a first gearwheel which is smaller relative to the second gearwheel creates the possibility that even slight, for example a few degrees, rotational movement of the first gearwheel causes a significantly greater or further rotational movement of the second gearwheel and, in connection therewith, a greater rotational movement of the gripping device. With this transmission ratio, a simple and precise adjustability or positioning capability of the gripping device or of components manipulated by the gripping device is possible.

[0022] In particular, it can be advantageous if the first rotary drive is configured to rotate the gripper support arm about the first rotary axis and a second rotary drive, which acts independently of the first rotary drive, is configured to rotate the gripping device about the second rotary axis. An embodiment configured in this way enables independent or separately executable rotational movements of the gripper support arm and the gripping device. The commands for the respective rotation of the gripping device and / or the gripper support arm can be transmitted to the rotary drives, for example, by means of a bending program. By means of the second rotary drive, the execution of the rotational movement of the gripping device can take place independently of a possible simultaneous rotational movement of the gripper support arm which can be caused by the first rotary drive. This advantageous refinement can additionally improve the freedom of movement of the robot hand and thus further contribute to the versatile, flexible and most collision-free use of the robot hand. In addition, this can simplify the movement of the robot hand, which can have a positive effect on the associated programming. This can result in faster programming of the robot hand and less susceptibility to faults.

[0023] In an advantageous refinement, the second rotary drive can be configured as an electric actuator, preferably as a stepper motor, or the second rotary drive can be configured as a pneumatic actuator, and the second rotary drive is fixed to the gripper support arm. Depending on requirements, i.e. depending on the bending situation or the programmed sequence, the stepper motor can rotate the gripping device to the respective desired position. An electric motor with a belt drive can also be provided. Alternatively and particularly preferably, instead of an electric actuator, a pneumatic actuator can also be advantageous. In particular, if the gripper elements comprise negative pressure gripper elements, it can be advantageous to configure the second rotary drive as a pneumatic actuator. This is particularly suitable if the negative pressure gripper elements have, in addition to their vacuum supply, also an overpressure supply in order to be able to, for example, put down or discharge sheet metal parts. If required, such an overpressure supply can also be used by the pneumatic actuator. In this case, for example, a gas cylinder with a toggle lever or a rack-and-pinion combination can initiate the rotation about the second rotary axis. In addition, a pneumatic pivot drive is also conceivable. As a further alternative, a spindle drive with a worm gear or a rack-and-pinion combination is also conceivable. In doing so, when the second rotary drive is formed on the gripper support arm and preferably on the underside of the gripper support arm, the second rotary drive can be functionally coupled with the gripping device by means of a belt or a comparable coupling device, so that the rotary motion initiated by the second rotary drive device can be transmitted to the gripping device.

[0024] Furthermore, it can be extremely advantageous to configure the second rotary drive to rotate the gripping device between a first end stop and a second end stop, wherein preferably a rotary motion of up to 180° can be performed between the first end stop and the second end stop. Since the respective rotary motion about the first rotary axis and about the second rotary axis can occur independently of one another, it can be sufficient and also helpful to avoid collisions to limit the rotary motion about the second rotary axis. This can be, for example, a rotary motion performed between 0° and 180° or between 0° and 270°.

[0025] Furthermore, a spur gear drive can be provided, which is configured to comprise a first spur gear rotatable about the first rotary axis, and to comprise a second spur gear rotatable about the second rotary axis, wherein the first spur gear and the second spur gear interact in a kinematically coupled manner, directly or indirectly. As a result of this configuration, a direct mechanical drive connection can be produced. This can achieve effects similar to those of the toothed belt drive described above. It can also be advantageous to form a third spur gear between the first spur gear and the second spur gear, which engages with the first spur gear and the second spur gear in such a way that the gripper support arm and the gripping device can be moved in rotary motion in the same direction.

[0026] Furthermore, a maximum height of the protruding portion of the gripper support arm including the gripping device held on the gripper support arm can be provided, which is smaller than the structural height of the lower tool relative to the bending table of the bending machine. In particular, the maximum height can have a maximum value of 150 mm, preferably a maximum value of 100 mm. A construction or construction height as compact as possible means that the gripping device or the components manipulated by the gripping device can be brought close to or even directly to the lower tool. In particular, these measures ensure that the gripping device can be moved relatively close to or directly to the lower tool of the bending machine without rising above the component support plane of the lower tool, in particular of the sheet metal part provided to be supported on the lower tool. Thus, components with a relatively short leg length can also be manipulated or fed to the bending machine without the need to exchange, change or reposition the gripping device relative to the components to be machined. This can improve the performance and keep the short manipulation and machining cycle times.

[0027] A further advantageous embodiment provides a support arm including a first support arm portion and a second support arm portion, wherein the first support arm portion and the second support arm portion are arranged offset to each other in the direction of the first or second rotation axis. By configuring the gripper support arm with a gradient or offset, an advantageous low maximum height of the gripper support arm can be achieved in a technically simple manner. A low height of the gripper support arm including the gripping device held on the gripper support arm can be advantageous, as this device can be brought as close as possible to the lower tool. In addition, this can keep the low protrusion height of the end effector or the end protrusion length of the robot, resulting in an increased or kept high available load moment of the robot.

[0028] According to the improvement, the support leg length of the gripper support arm can be shorter than the length of the first, second and / or third pivot arm, said support leg length extending between the first and second rotation axis. A shorter gripper support arm relative to the pivot arms can be advantageous from a static or structural point of view.

[0029] It can be extremely advantageous if the base element comprises at least two gripper element support arms, each having a first end portion and a second end portion, which are radially spaced apart from the second axis of rotation and which are adjustably guided and releasably fixed in a preferably arcuate guide portion in the base element of the gripping device at their first end portions and which have a gripper element at their second end portions. This adjustment can be carried out manually and automatically. It is advantageous if the first end portions are arranged at an equal and in particular also constant distance from the second axis of rotation. The releasable connection between the first end portions and the base plate can be realized by means of, for example, a thread and a nut. However, a bayonet fixing is also conceivable, for example. A connection that can be released or established without a tool or manually is advantageous. In order to keep the respective first end portion at a constant distance from the second axis of rotation, the respective guide portion can comprise the shape of an arcuate line segment, which extends in the circumferential direction around the second axis of rotation. The respective first end portion is formed with a central axis, which is preferably arranged parallel to the second axis of rotation. It can also be advantageous if the gripper element support arms are elongate and extend in the longitudinal direction from the first end portion to the second end portion. Since the respective second end portion is rotatable in the circumferential direction around the central axis of the respective associated first end portion, the gripper element is adaptable to a variety of component geometries. The first end portion can thus be rotated completely around the central axis, i.e. by 360°, or the first end portion can be rotated between stop limits.

[0030] It has also proven advantageous when the at least two gripper element support arms comprise a securing device in the region of their respective first end portions, which is configured to releasably secure the at least two gripper element support arms relative to the base element. The securing device can be a pivotable lever, for example, which couples with the base element or a component on the base element when it enters its securing or locking position. This prevents or hinders an undesired movement of the gripper element support arms in the circumferential direction of the second axis of rotation in a structurally simple manner.

[0031] It has also proven advantageous that the vacuum line of the at least one negative pressure gripper element can be formed with a fluid blocking element. A blocking element of this type can be arranged, for example, in the vicinity of a suction cup or similar suction cup application device of the negative pressure gripper element or can also be formed in the gripper element support arm. The blocking element can be configured as a shut-off valve, which can be controlled or actuated in an automatic manner or can also be locked or unlocked manually. This improvement can simplify or facilitate the individual adaptation of the gripping device to different component sizes and component shapes. Thus, unnecessary negative pressure gripper elements can be opened and closed as required.

[0032] Furthermore, it has proven advantageous with regard to its pivot axes that the robot comprises only the horizontal first pivot axis, the horizontal second pivot axis, the horizontal third pivot axis, the first rotary axis and the second rotary axis. This leads to the production of a robot which, in combination with the automated handling of sheet-like workpieces, in particular with sheet metal parts and bending apparatuses for these sheet metal parts, has advantageous performance-to-cost ratios. Such kinematics make it possible to construct the robot in an optimized manner and to operate it economically. However, with the corresponding degrees of freedom, a comprehensive movement range for the workpiece handling can be covered.

[0033] The invention also relates to a bending apparatus comprising a bending machine, at least one robot, a guide device with a guide axis along which the at least one robot can be moved or a stationary anchor for the at least one robot, and a mounting control configured to predefine movements and / or movement sequences of the at least one robot. This stipulates that the at least one robot is formed according to the aforementioned at least one feature or according to the definition in at least one of the robot claims. Here, in particular, the guide device comprises a linearly extending rail guide or a linear rail element. The linear rail element can be aligned preferably parallel to a longitudinal axis of a bending table of the bending machine, or the guide axis of the guide device can extend parallel to the rail element.

[0034] The embodiments of the bending apparatus according to the invention enable a highly efficient machining of parts, in particular of bending parts. By means of the bending apparatus configured according to the invention with at least one robot, not only a pivoting movement of the robot about a horizontal axis can be performed, but also a rotary movement about at least two rotary axes. This offers the advantage that for parts to be subjected to several machining steps or several bending steps, no laying down and / or changing of the holding is necessary. The use of the robot according to the invention is particularly advantageous for small parts and for profiles. In particular, in the case of small parts and profiles to be bent and especially in the case of parts and profiles to be bent several times, no change of the holding is necessary between the individual machining or bending steps. This shortens the machining time, which has a positive effect on the unit costs in particular. Furthermore, the robot configuration according to the invention can enable the robot to be moved relatively close to the bending machine or to the lower tool arranged on the bending table. The quasi-excentered or offset configuration of the robot gripper device can enable the gripper device and the parts held by the gripper device to be brought close and possibly even directly to the bending machine, in particular to the lower tool of the bending machine. This type of extension makes it possible to machine or bend several stages of the parts without generally losing time due to a change of the gripper holding.

[0035] According to an advantageous improvement to the bending equipment, the bending machine can be configured to include a bending table and a pressure beam adjustable relative to the bending table, and as can be seen in the plan view, at least one lower tool is positioned within the outer boundary edge of the bending table, on which a component support plane for vertically supporting at least one part to be processed is formed. The part can be supported on the component support plane of the lower tool by a robot in a simple manner, and then the processing steps can be performed by the pressure beam. In this way, the outer boundary edge can be advantageously formed in the plan view of the bending table. Attached Figure Description

[0036] To improve the understanding of the invention, it is described in more detail in the following figures.

[0037] These figures are shown in significantly simplified schematic diagrams:

[0038] Figure 1 An embodiment with a robotic arm and a bending device with a bending machine are shown, wherein the robotic arm is shown in two working positions.

[0039] Figure 2 Another implementation of the robotic arm is shown in the side view.

[0040] Figure 3 The previous view shows the configuration with a bending table and a lower tool. Figure 2 Implementation of the robotic arm

[0041] Figure 4 The side view shows the basis with a bending table and a lower tool. Figure 2 Implementation of the robotic arm

[0042] Figure 5 The plan shows the following based on Figure 2 First positioning example of the implementation of the robotic arm

[0043] Figure 6 The plan shows the following based on Figure 2 Second positioning example of the implementation of the robotic arm

[0044] Figure 7 The plan shows the following based on Figure 2 Third positioning example of the implementation method of the robotic arm

[0045] Figure 8 The plan shows the following based on Figure 2 Fourth positioning example of the implementation method of the robotic arm

[0046] Figure 9 The plan shows the following based on Figure 2 Fifth positioning example of the implementation method of the robotic arm

[0047] Figure 10 The plan shows the following based on Figure 2 The sixth positioning example of the implementation method of the robotic arm

[0048] Figure 11 The plan shows the following based on Figure 2 The seventh positioning example of the implementation method of the robotic arm

[0049] Figure 12 Another implementation of the robotic arm is shown in a three-dimensional view.

[0050] It is worth noting that the same parts may be given the same reference numerals or the same component configuration in different described embodiments, but the disclosure contained throughout the specification can be similarly applied to the same parts having the same reference numerals or the same component configuration. Indications of the locations selected in the description (e.g., above, below, on the side, etc.) refer to the figures directly described and shown, and these location indications can be applied in the same manner to new locations if the location is changed. Detailed Implementation

[0051] Figure 1 A bending device 37 is shown, comprising a manipulator 1 and a bending machine 33 according to a first embodiment of the invention. For example, the manipulator 1 is shown in two different working positions. The bending device 37 also includes a guide device 3 having a guide axis 38 along which at least one manipulator 1 is movable. Alternatively, at least one manipulator 1 is configured to have a fixed anchor. Furthermore, a system control (not shown) is provided, configured to specify the movement or movement sequence of the manipulator 1.

[0052] As shown in the figure, the bending machine 33 may include a bending table 32 and a pressure beam 39 adjustable relative to the bending table 32. Within the outer boundary edge 41 of the bending table 32, the pressure beam 39 is adjustable relative to the following... Figures 5 to 11 The plan view positions at least one lower tool 31, on which a component support plane 40 for vertically supporting at least one component to be processed can be formed.

[0053] The robot 1 according to the application is configured to pick up, transport, hold and / or deposit components 2, in particular sheet metal parts. The base body 4 of the robot 1 is configured to be movable along the guide device 3. The robot 1 comprises a first pivot arm 6 which is pivotably coupled to the base body 4 via a horizontal first pivot axis 5, a second pivot arm 8 which is pivotably coupled to the first pivot arm 6 via a horizontal second pivot axis 7, and a third pivot arm 10 which is pivotably coupled to the second pivot arm 8 via a horizontal third pivot axis 9. A first rotation axis 11 which extends radially with respect to the third pivot axis 9 is formed on the third pivot arm 10. A gripper support arm 12 which is rotatably coupled to the third pivot arm 10 is formed via the first rotation axis 11. In this case, the gripper support arm 12 extends radially with respect to the first rotation axis 11. Furthermore, a gripping device 13 is formed which is rotatably coupled to the gripper support arm 12 via a second rotation axis 14 which is spaced apart from the first rotation axis 11.

[0054] Figure 1 It is also shown that the first rotation axis 11 and the second rotation axis 14 can be formed parallel to one another. The gripping device 13 can also comprise a base element 15 which is rotatably mounted on the gripper support arm 12 and a gripper element 16 which can be coupled to the base element 15 as required, the gripper element 16 being in particular exchangeable without any tools. The gripper element 16 can also comprise a tongs gripper and / or a magnetic gripper (but not shown in the figures). It is also shown that the gripper element 16 can comprise a negative pressure gripper 17 on which one or more negative pressure gripper elements 18 are formed. For example, it is shown that four negative pressure gripper elements 18 are arranged symmetrically on the gripper element 16. Furthermore, the support arm length 36 of the gripper support arm 12 which extends between the first rotation axis 11 and the second rotation axis 14 can be shorter than the length of the first pivot arm 6, the second pivot arm 8 and / or the third pivot arm 10.

[0055] Figure 2 A side view of a second embodiment of the robot 1 is shown. In principle, Figure 2 An alternative independent embodiment of the robot 1 is shown, in which, for identical parts, the same reference signs or component configurations as in the preceding Figure 1 are used. To this end, in order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figure 1 . The same applies to the following description.

[0056] Figure 2 The robot 1 according to the application which is schematically depicted in the preceding Figure 2is not shown or hidden. On the third pivot arm 10, a first rotation axis 11 is formed, which extends radially with respect to the third pivot axis 9. A gripper support arm 12, which is rotatably coupled to the third pivot arm 10, is formed via the first rotation axis 11. In this case, the gripper support arm 12 extends radially with respect to the first rotation axis 11. Furthermore, a gripping device 13 is formed, which is rotatably coupled to the gripper support arm 12 via a second rotation axis 14, which is spaced apart from the first rotation axis 11.

[0057] The first rotation axis 11 and the second rotation axis 14 can be formed parallel to one another. Furthermore, as shown, the gripping device 13 can be provided to comprise a base element 15, which is rotatably mounted on the gripper support arm 12, and a gripper element 16, which can be coupled to the base element 15 as required, the gripper element 16 being in particular exchangeable without any tools. The gripper element 16 can be, for example, a gripper tongs, a magnetic gripper and / or a negative pressure gripper 17. Figure 2 A negative pressure gripper 17 is shown, on which a plurality of negative pressure gripper elements 18 can be arranged. This shows that a vacuum line 19 can be formed, which can be formed as a rotary joint in the transition 20 between the third pivot arm 10 and the gripper support arm 12 and / or in the transition 20 between the gripper support arm 12 and the gripping device 13.

[0058] The gripper support arm 12 can be rotatably coupled to the third pivot arm 10 via a coupling 22 by means of a first pivot bearing 21, the coupling 22 being able to be activated and deactivated as required. The gripping device 13 can be rotatably coupled to the gripper support arm 12 by means of a second pivot bearing 23. Figure 2 It is also shown that a torque support 24 can be arranged on the third pivot arm 10, which is preferably detachable.

[0059] It is also shown that a toothed belt drive 25 can be formed, which produces a kinematic coupling connection between the gripper support arm 12 and the gripping device 13. A first toothed wheel 26, which is rotatable about the first rotation axis 11, and a second toothed wheel 27, which is rotatable about the second rotation axis 14, are depicted. Furthermore, a belt 28 can be formed, which kinematically couples the first toothed wheel 26 and the second toothed wheel 27. It should be noted that Figure 2The toothed belt transmission 25, which is shown in a simplified form, is merely an exemplary embodiment, and of course, further advantageous structural configurations, which are known to the person skilled in the art, are conceivable and possible. The first gear wheel 26 can have a larger diameter than the second gear wheel 27. Due to the kinematically coupled belt 28 connection, in principle, a movement of the first gear wheel 26 can always result in a movement of the second gear wheel 27. However, it is also conceivable and can be advantageous to decouple the first gear wheel 26 and the second gear wheel 27.

[0060] Alternatively, a spur gear (not shown in the figures) can also be formed, which can be configured to adjust the angular position of the gripping device 13. A general spur gear transmission can comprise a first spur gear wheel, which can be rotatable about the first rotation axis 11, and a second spur gear wheel, which can be rotatable about the second rotation axis 14, wherein the first spur gear wheel and the second spur gear wheel interact with one another in a kinematically coupled manner, directly or indirectly.

[0061] The maximum height 29 of the gripper support arm 12, including the gripping device 13 held on the gripper support arm 12, can be smaller than a structural height 30 of the lower tool 31 relative to the bending table 32 of the bending machine 33. In particular, the maximum height 29 can have a maximum value of 150 mm, preferably a maximum value of 100 mm. The structural height 30 of the lower tool 31 relative to the bending table 32 of the bending machine 33 is shown in Figure 3 and Figure 4 .

[0062] The gripper support arm 12 can comprise a first support arm portion 34 and a second support arm portion 35, wherein the first support arm portion 34 and the second support arm portion 35 can be arranged offset relative to one another in the direction of the first rotation axis 11 or the second rotation axis 14. Advantageously, as shown in Figure 2 , the first support arm portion 34 and the second support arm portion 35 can be offset relative to one another such that, relative to the horizontal position of the gripper support arm 12, the second support arm portion 35 is lower than the first support arm portion 34. This can result in a lower maximum height 29.

[0063] Figure 3 and Figure 4 These two figures show a third embodiment of the robot 1 with a bending table 32 and a lower tool 31 in a front view and a side view, respectively. In principle, Figure 3 and Figure 4 show further alternative stand-alone embodiments of the robot 1, wherein for identical parts the same reference signs and component configurations as in the preceding Figure 1 and Figure 2 are used. For this purpose, in order to avoid unnecessary repetitions, reference is made to the detailed description in the preceding figures.

[0064] According to Figure 3and Figure 4 The robot 1 of the application shown is configured to pick up, transport, hold and / or put down parts 2, in particular sheet metal parts. The robot 1 is not shown in Figure 3 and Figure 4 completely, but for more clarity, starting from its third pivotal arm 10, which is coupled via a third pivotal axis 9 with the second pivotal arm 8 (not shown). On the third pivotal arm 10 a first rotation axis 11 is formed, which extends radially with respect to the third pivotal axis 9. A gripper support arm 12, which is rotatably coupled to the third pivotal arm 10, is formed via the first rotation axis 11. In this case, the gripper support arm 12 extends radially with respect to the first rotation axis 11. Furthermore, a gripping device 13 is formed, which is rotatably coupled to the gripper support arm 12 via a second rotation axis 14, which is spaced apart from the first rotation axis 11.

[0065] The robot 1 shown as well as the bending station 32 shown with a lower tool 31 mounted thereon are components of a bending machine 33, which in turn is part of a bending installation 37. The bending installation 37 can also comprise a guiding device 3 (shown in Figure 1 ) with a guiding axis 38 or a stationary anchor for at least one robot 1 and comprises a mounting control.

[0066] As shown, the bending machine 33 can comprise a bending station 32 and a press beam 39, which is adjustable with respect to the bending station 32. For example, the press beam 39 is shown in Figure 1 . Within an outer boundary edge 41 of the bending station 32, at least one lower tool 31 can be positioned with respect to a plan view according to the following Figures 5 to 11 , on which a parts support plane 40 for vertically supporting at least one part to be processed can be provided.

[0067] The maximum height 29 of the gripper support arm 12 including the gripping device 13 held on the gripper support arm 12 can be smaller than the structural height 30 of the lower tool 31 with respect to the bending station 32 of the bending machine 33. In particular, the maximum height 29 can have a maximum value of 150 mm, preferably a maximum value of 100 mm.

[0068] Figures 5 to 11 Seven positioning examples of a fourth embodiment of a robot 1 are shown in plan view. The robot 1 according to the application is configured to pick up, transport, hold and / or put down parts 2, in particular sheet metal parts. In order to illustrate the positioning capabilities of the device, the parts 2 are not shown in Figures 5 to 11 . As already shown in the previous figures, the robot 1 is not shown in Figures 5 to 11is not shown any more. On the third pivot arm 10, a first rotation axis 11 is formed, which extends radially with respect to the third pivot axis 9. A gripper support arm 12, which is rotatably coupled to the third pivot arm 10, is formed via the first rotation axis 11. In this case, the gripper support arm 12 extends radially with respect to the first rotation axis 11. Furthermore, a gripping device 13 is formed, which is rotatably coupled to the gripper support arm 12 via a second rotation axis 14, which is spaced apart from the first rotation axis 11. Figures 5 to 11 A bending table 32 of the bending machine 33 is also shown, wherein the lower tool 31 is arranged or mounted on the bending table 32.

[0069] As shown, the bending machine 33 can comprise a bending table 32 and a press beam 39 which is adjustable with respect to the bending table 32. For example, the press beam 39 is adjustable in a vertical direction with respect to the bending table 32. Figure 1 In the outer boundary edge 41 of the bending table 32, at least one lower tool 31 can be positioned with respect to a plan view, on which a component support plane 40 for vertically supporting at least one component to be machined can be provided.

[0070] Figures 5 to 8 A positioning example of the gripping device 13 is shown, which can be arranged with a negative pressure gripper 17 having a total of six negative pressure gripper elements 18. In Figure 5 In the following Figures 6 to 8 In the following Figure 6 In the following Figure 7 In the following Figure 8 This shows that, although the gripping device 13 rotates about 270° around the second rotation axis 14 between the position according to Figure 5 and the position according to Figure 8 , the gripper support arm 12 only needs to perform a rotational movement of only about 90° around the first rotation axis 11. This can be achieved in particular by forming a toothed belt drive 25, which comprises a first toothed wheel 26, which is rotatable around the first rotation axis 11, and a second toothed wheel 27, which is rotatable around the second rotation axis 14. The toothed belt drive 25 can comprise a belt 28, which kinematically couples the first toothed wheel 26 and the second toothed wheel 27. A desired transmission ratio between the first toothed wheel 26 and the second toothed wheel 27 can be technically implemented, since the diameter of the first toothed wheel 26 is greater than the diameter of the second toothed wheel 27. Figures 9 to 11It is also shown that, if desired, the two angular range quadrants of the bending station 32 can also be reached with the gripping device 13. In Figures 9 to 11 between, the gripper support arm 12 performs a relatively small rotational movement of approximately 45°, while the gripping device 13 rotates by 180°.

[0071] Figure 12 A further advantageous embodiment is shown, in which a first rotary drive (not shown) can be configured to rotate the gripper support arm 12 about the first rotary axis 11, and in which a second rotary drive 42, which acts independently of the first rotary drive, can be configured to rotate the gripping device 13 about the second rotary axis 14. In principle, in order to avoid repetition, reference is again made to the foregoing Figure 2 description. In the embodiment according to Figure 12 , the second rotary drive 42 can be configured as an electric or pneumatic actuator and can be fastened to the gripper support arm 12. For this purpose, the second rotary drive 42 can be coupled in terms of movement to the gripping device 13, for example, by means of a belt 28. An electric actuator configured as a stepper motor is preferred. The second rotary drive 42 can be configured to rotate the gripping device 13 between a first end stop 43 and a second end stop 44, wherein a rotational movement of up to 180° can preferably take place between the first end stop 43 and the second end stop 44.

[0072] Furthermore, Figure 12 It is shown that the base element 15 has at least two gripper element support arms 45, which can comprise a respective first end portion 46 and a respective second end portion 47. The gripper element support arms 45 can be radially spaced apart from the second rotary axis 14 and can be guided and releasably fixed in a preferably arcuate guide portion 48 in the base element 15 of the gripping device 13 at their first end portions 46 in a manually or automatically adjustable manner. In particular, if the adjustment can be made manually, it can be advantageous to provide a scale 51 in the vicinity of the guide portion 48, preferably in the base element 15, which enables more precise adjustability. In this case, the gripper element support arms 45 can comprise gripper elements 16 at their second end portions 47. Of course, this refinement is not necessarily coupled to the example according to Figure 12 , but can also be used, for example, in a device according to Figure 2

[0073] The at least two gripper element support arms 45 can preferably comprise a securing device 49 in the region of their respective first end portions 46, which is configured to releasably secure the at least two gripper element support arms 45 relative to the base element 15. This securing device 49 is, for example, in the case of the example according to Figure 12 ​The middle is shown as an arcuate bar and is shown in a position releasably secured to the base element 15.

[0074] The vacuum line 19 of the at least one negative pressure gripper element 18 can be formed with a fluid blocking element 50, for example a shut-off valve. As Figure 12 shown, such a blocking element 50 can be formed on or in the gripper element support arm 45. However, the blocking element 50 can also be formed in the base element 15, for example, or in the vicinity of the negative pressure gripper element 18 or the suction cup of the negative pressure gripper element 18.

[0075] With regard to its pivot axes, the robot 1 can comprise only the horizontal first pivot axis 5, the horizontal second pivot axis 7, the horizontal third pivot axis 9, the first rotation axis 11 and the second rotation axis 14. Of course, this can be equally advantageous for all exemplary embodiments shown in the figures.

[0076] The embodiments show possible configuration variants, however, at this point it should be noted that the application is not limited to the specifically shown configuration variants of the application, rather, various combinations between the individual configuration variants are possible and these possible variants can be developed using the knowledge of the person skilled in the art working in the field based on the teachings provided by the application.

[0077] The scope of protection is determined by the claims. However, the interpretation of the claims will be made by reference to the description and drawings. Individual features or combinations of features of the various exemplary embodiments shown and described can represent independent inventive concepts in themselves. The problem to be solved on which the independent inventive concepts are based can be derived from the description.

[0078] All value ranges specified in the present description are to be understood as such that they include any and all subranges, for example, the range from 1 to 10 should be understood as including all subranges from a lower limit of 1 and an upper limit of 10, i.e. all subranges starting with a lower limit of 1 above and ending with an upper limit of 10 below, for example, from 1 to 1.7, or from 3.2 to 8.1, or from 5.5 to 10.

[0079] Formally and by way of conclusion, it should be noted that the elements are shown partially not to scale and / or enlarged and / or reduced in order to improve the understanding of the structure.

[0080] List of reference signs

[0081] 1 robot

[0082] 2 component

[0083] 3 guide device

[0084] 4 base body

[0085] 5 first pivot axis

[0086] 6 first pivot arm

[0087] 7 second pivot axis

[0088] 8 second pivot arm

[0089] 9 third pivot axis

[0090] 10 third pivot arm

[0091] 11 first rotation axis

[0092] 12 gripper support arm

[0093] 13 gripping device

[0094] 14 second rotation axis

[0095] 15 base element

[0096] 16 gripper element

[0097] 17 negative pressure gripper

[0098] 18 negative pressure gripper element

[0099] 19 vacuum line

[0100] 20, 20' transition portion

[0101] 21 first pivot bearing

[0102] 22 link

[0103] 23 second pivot bearing

[0104] 24 torque support

[0105] 25 toothed belt drive

[0106] 26 first gearwheel

[0107] 27 second gearwheel

[0108] 28 belt

[0109] 29 height

[0110] 30 construction height

[0111] 31 lower tool

[0112] 32 bending station

[0113] 33 bending machine

[0114] 34 first support arm portion

[0115] 35 second support arm portion

[0116] 36 support arm length

[0117] 37 bending device

[0118] 38 guide axis

[0119] 39 pressure beam

[0120] 40 component support plane

[0121] 41 outer boundary edge

[0122] 42 second rotary drive

[0123] 43 first end stop

[0124] 44 second end stop

[0125] 45 grip element support arm

[0126] 46 first end portion

[0127] 47 second end portion

[0128] 48 guide portion

[0129] 49 fixing device

[0130] 50 blocking element

[0131] 51 scale

Claims

1. A robot (1) for components (2), wherein the robot (1) is configured to pick up, transport, hold and put down components (2), the robot (1) comprising: - a base body (4) which can be mounted in a fixed manner or which can be moved along a guide device (3), - a first pivoting arm (6) which is pivotably coupled to the base body (4) via a horizontal first pivoting axis (5), - a second pivoting arm (8) which is pivotably coupled to the first pivoting arm (6) via a horizontal second pivoting axis (7), - a third pivoting arm (10) which is pivotably coupled to the second pivoting arm (8) via a horizontal third pivoting axis (9), - wherein a first rotation axis (11) which extends radially with respect to the third pivoting axis (9) is formed on the third pivoting arm (10), characterized in that a gripper support arm (12) which is rotatably coupled to the third pivoting arm (10) via the first rotation axis (11) is formed, wherein the gripper support arm (12) extends radially with respect to the first rotation axis (11), and wherein a gripping device (13) is rotatably coupled to the gripper support arm (12) via a second rotation axis (14) which is spaced apart from the first rotation axis (11).

2. The robot (1) according to claim 1, characterized in that The components are sheet metal parts.

3. The robot (1) according to claim 1, characterized in that The first rotation axis (11) and the second rotation axis (14) are formed parallel to one another.

4. The robot (1) according to any one of claims 1-3, characterized in that, The gripping device (13) comprises a base element (15) which is rotatably mounted on the gripper support arm (12) and a gripper element (16) which can be coupled to the base element (15) as required, the gripper element being exchangeable without any tools.

5. The robot (1) according to claim 4, characterized in that The gripper element (16) comprises a gripper tongs and / or a magnetic gripper.

6. The robot (1) according to claim 4, characterized in that The gripper element (16) comprises a negative pressure gripper (17) and at least one negative pressure gripper element (18) is formed on the negative pressure gripper (17).

7. The robot (1) according to claim 6, characterized in that A vacuum line (19) is formed which is formed as a rotary joint in the transition between the third pivoting arm (10) and the gripper support arm (12) and / or in the transition between the gripper support arm (12) and the gripping device (13).

8. The robot (1) according to any one of claims 1-3, characterized in that, The gripper support arm (12) is rotatably coupled to the third pivoting arm (10) via a coupling piece (22) by means of a first pivoting bearing (21), the coupling piece being able to be activated and deactivated as required.

9. The robot (1) according to any one of claims 1-3, characterized in that, The gripping device (13) is rotatably coupled to the gripper support arm (12) by means of a second pivoting bearing (23).

10. The robot (1) according to any one of claims 1-3, characterized in that, A torque support (24) is arranged in a rotationally fixed manner on the third pivoting arm (10), forming a torque support (24) which is configured to be releasable.

11. The robot (1) according to any one of claims 1-3, characterized in that, A toothed belt drive (25) is formed, which comprises a first toothed wheel (26) that is rotationally fixed relative to the first axis of rotation (11) and which comprises a second toothed wheel (27) that is rotatable about the second axis of rotation (14), and which comprises a belt (28) that kinematically couples the first toothed wheel (26) and the second toothed wheel (27).

12. The robot (1) according to claim 11, characterized in that The diameter of the first toothed wheel (26) is greater than the diameter of the second toothed wheel (27).

13. The robot (1) according to any one of claims 1 to 3, characterized in that A first rotary drive is configured to rotate the gripper support arm (12) about the first axis of rotation (11), and a second rotary drive (42) that acts independently of the first rotary drive is configured to rotate the gripping device (13) about the second axis of rotation (14).

14. The robot (1) according to claim 13, characterized in that The second rotary drive (42) is configured as an electric actuator, or the second rotary drive (42) is configured as a pneumatic actuator, and the second rotary drive (42) is fastened to the gripper support arm (12).

15. The robot (1) according to claim 14, characterized in that The electric actuator is a stepper motor.

16. The robot (1) according to claim 13, characterized in that The second rotary drive (42) is configured to rotate the gripping device (13) between a first end stop (43) and a second end stop (44) between which a rotary movement can be performed.

17. The robot (1) according to claim 16, characterized in that The rotary movement is a rotary movement of up to 180°.

18. The robot according to any one of claims 1 to 3, characterized in that, A spur gear drive is formed, which comprises a first spur gear that is rotatable about the first axis of rotation (11) and which comprises a second spur gear that is rotatable about the second axis of rotation (14), wherein the first spur gear and the second spur gear directly or indirectly interact in a kinematically coupled manner with one another.

19. The robot (1) according to any one of claims 1 to 3, characterized in that The maximum height (29) of the protruding portion of the gripper support arm (12) comprising the gripping device (13) held on the gripper support arm (12) is less than the structural height (30) of a lower tool (31) relative to a bending table (32) of a bending machine (33).

20. The robot (1) according to claim 19, characterized in that The maximum value of the maximum height is 150 mm.

21. The robot (1) according to claim 19, characterized in that The maximum value of the maximum height is 100 mm.

22. The robot (1) according to any one of claims 1 to 3, characterized in that The gripper support arm (12) comprises a first support arm portion (34) and a second support arm portion (35), which are arranged offset from one another in the direction of the first axis of rotation (11) or second axis of rotation (14).

23. The robot (1) according to any one of claims 1 to 3, characterized in that The support arm length (36) of the gripper support arm (12), which extends between the first axis of rotation (11) and the second axis of rotation (14), is shorter than the length of the first, second and / or third pivot arm (6, 8, 10).

24. The robot (1) according to claim 4, characterized in that The base element (15) comprises at least two gripper element support arms (45) having a respective first end portion (46) and a respective second end portion (47), which are radially spaced apart from the second axis of rotation (14) and which are adjustably guided and releasably fixed in an arcuate guide portion (48) in the base element (15) of the gripping device (13) at their first end portions (46) and have a gripper element (16) at their second end portions (47).

25. The robot (1) according to claim 24, characterized in that The at least two gripper element support arms (45) comprise a securing device (49) in the region of their respective first end portions (46), which is configured to releasably secure the at least two gripper element support arms (45) relative to the base element (15).

26. The robot (1) according to claim 6, characterized in that The vacuum line (19) of the at least one negative pressure gripper element (18) is formed with a fluid blocking element (50).

27. The robot (1) according to any one of claims 1 to 3, characterized in that With regard to their pivot axes, they comprise only the horizontal first pivot axis (5), the horizontal second pivot axis (7), the horizontal third pivot axis (9), the first axis of rotation (11) and the second axis of rotation (14).

28. A bending apparatus (37) comprising: A bending machine (33); At least one robot (1); A guide device (3) having a guide axis (38) along which the at least one robot (1) can move, or a stationary anchor for the at least one robot (1); and an installation control configured to predefine movements and / or movement sequences of the at least one robot (1), characterized in that the at least one robot (1) is a robot according to any one of claims 1 to 27.

29. The bending apparatus (37) according to claim 28, characterized in that The bending machine (33) comprises a bending table (32) and a press beam (39) which is adjustable relative to the bending table (32), and at least one lower tool (31) is positioned within an outer boundary edge (41) of the bending table (32), on which a component support plane (40) for vertically supporting at least one component to be machined is formed. The base element (15) comprises at least two gripper element support arms (45) having a respective first end portion (46) and a respective second end portion (47), which are radially spaced apart from the second axis of rotation (14) and which are adjustably guided and releasably fixed in an arcuate guide portion (48) in the base element (15) of the gripping device (13) at their first end portions (46) and have a gripper element (16) at their second end portions (47). The at least two gripper element support arms (45) comprise a securing device (49) in the region of their respective first end portions (46), which is configured to releasably secure the at least two gripper element support arms (45) relative to the base element (15). The vacuum line (19) of the at least one negative pressure gripper element (18) is formed with a fluid blocking element (50). With regard to their pivot axes, they comprise only the horizontal first pivot axis (5), the horizontal second pivot axis (7), the horizontal third pivot axis (9), the first axis of rotation (11) and the second axis of rotation (14). A bending machine (33); At least one robot (1); A guide device (3) having a guide axis (38) along which the at least one robot (1) can move, or a stationary anchor for the at least one robot (1); and an installation control configured to predefine movements and / or movement sequences of the at least one robot (1), characterized in that the at least one robot (1) is a robot according to any one of claims 1 to 27. The bending machine (33) comprises a bending table (32) and a press beam (39) which is adjustable relative to the bending table (32), and at least one lower tool (31) is positioned within an outer boundary edge (41) of the bending table (32), on which a component support plane (40) for vertically supporting at least one component to be machined is formed.

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