Holding device for a bending machine for holding a workpiece to be bent

Abstract

The invention relates to a holding device (1) for a bending machine (30) for holding a workpiece to be bent (2), wherein the holding device (1) comprises a clamping unit (3) for clamping the workpiece to be bent (2) and an actuating unit (4) for actuating the clamping unit (3), wherein the clamping unit (3) comprises a stationary first clamping jaw (5), on which a first clamping portion (6) is provided, and a movable second clamping jaw (7), on which a second clamping portion (8) and an actuating portion (9) are provided, characterized in that the one actuating unit (4) comprises a contact portion (10), and in that the actuating unit (4) is designed to exert an actuating force (FB) on the actuating portion (9) of the clamping unit (3) via the contact portion (10), by means of which the second clamping jaw (7) can be moved relative to the first clamping jaw (5) in order to clamp the workpiece to be bent (2) between the first clamping portion (6) and the second clamping portion (8).

Description

[0001] HOLDING DEVICE FOR A BENDING MACHINE FOR HOLDING A BENDING WORKPIECE

[0002] The invention relates to a holding device for a bending machine for holding a bending workpiece. Furthermore, the invention relates to a holding station and a bending machine.

[0003] When performing bending operations on a bending machine, it is often necessary to regrip the workpiece. This is particularly important in automated bending cells, where the workpiece is handled by a handling robot, such as a multi-axis industrial robot. For this purpose, the workpiece is typically positioned and held by the handling robot at a regripping station using a suitable gripper. The gripper can then be moved to a different position and pick up the workpiece in this position. The workpiece can then be fed back to the bending machine to perform the next bending operation.

[0004] Such regripping stations are well known and are usually located close to the bending machine to minimize the time required for the regripping process. For example, known regripping stations have a storage area for the workpiece to be bent, on which the workpiece can be placed and picked up again after regripping.

[0005] Such re-gripping stations can, for example, be designed as separate stations, which can be arranged on the floor next to the bending machine, as disclosed in JP2011150571A or JPH06234018A. However, there are also re-gripping stations that are part of the bending machine, as disclosed in EP 4 041 501 A1, for example. A disadvantage of this is, among other things, that re-gripping small bending workpieces often leads to problems. Furthermore, a secure hold cannot always be guaranteed for certain bending workpieces.

[0006] Based on the prior art, it was an object of the present invention to enable an improved hold of, in particular, relatively small, bending workpieces during the gripping process.This object is achieved by the holding device mentioned at the outset in that the holding device comprises a clamping unit for clamping the bending workpiece and an actuating unit for actuating the clamping unit, wherein the clamping unit comprises a stationary first clamping jaw on which a first clamping section is provided and a movable second clamping jaw on which a second clamping section and an actuating section are provided, that the actuating unit comprises a contact section and that the actuating unit is designed to exert an actuating force on the actuating section of the clamping unit via the contact section, by means of which actuating force the second clamping jaw can be moved relative to the first clamping jaw in order to clamp the bending workpiece between the first clamping section and the second clamping section. As a result, even small bending workpieces can be reliably clamped and held.

[0007] Preferably, a first clamping surface is provided on the first clamping section, and a second clamping surface is provided on the second clamping section, facing the first clamping surface. The bent workpiece can be clamped between the first clamping surface and the second clamping surface. The clamping surfaces can optionally be coated with a suitable adhesive coating to prevent unwanted slipping. A surface structure can also be provided if desired.

[0008] Preferably, a contact surface is provided on the contact section of the actuating unit, and an actuating surface is provided on the actuating section of the clamping unit, which faces the contact surface during operation of the holding device. The contact surface can be contacted to transmit the actuating force from the actuating surface. The contact surface and / or the actuating surface can also be concave or convex, if necessary. For example, the contact surface and the actuating surface could have complementary shapes. It would also be conceivable for the contact surface and / or the actuating surface to have a suitable wear-reducing coating or a hardened surface layer.

[0009] The actuating unit preferably comprises a stationary first actuating part and a second actuating part that is movable relative to the first actuating part, with the contact section being arranged on the second actuating part. This allows collisions to be compensated for. Preferably, the second actuating part is guided on the first actuating part and is spring-loaded relative to the first actuating part by means of a first spring device. This allows the actuating force to be limited.

[0010] It is also advantageous if the second clamping jaw is guided along the first clamping jaw and is spring-loaded relative to the first clamping jaw by means of a second spring mechanism. This allows the second actuating jaw to be reliably returned to its original position after release.

[0011] The first suspension device preferably comprises at least one first spring, in particular a compression spring. Particularly preferably, the first suspension device also comprises at least one first damper. Similarly, the second suspension device can comprise at least one second spring, in particular a compression spring, and preferably at least one second damper. Springs that can be provided include, for example, common coil springs, torsion springs, leaf springs, disc springs, etc. The first suspension device and / or the second suspension device can, of course, also comprise a plurality of springs. The springs can be connected in series or in parallel to achieve a desired spring characteristic. The damper can, for example, be designed as a hydraulic damper or as a friction damper.

[0012] Preferably, the first actuating part has a first fastening section for fastening to a tool holder of a bending beam of a bending machine, preferably a movable upper bending beam, and the first clamping jaw has a second fastening section for fastening to a tool holder of a bending beam of a bending machine, preferably a stationary lower bending beam. This allows the bending machine's drive, for example a hydraulic drive, to be used to actuate the holding device. The fastening sections are preferably designed analogously to the standardized fastening sections of the bending tools.

[0013] The holding device can also be part of the holding station mentioned above, wherein the holding station comprises a stationary holding console and an actuating punch movable relative thereto. The actuating unit of the holding device is attached to the actuating punch and the first clamping jaw of the holding device is attached to the holding console, or vice versa, and the holding station comprises a clamping drive for moving the actuating punch relative to the holding console. This allows the holding device or the holding station to be arranged, for example, next to the bending machine.

[0014] The clamping drive can comprise a hydraulic, mechanical, or pneumatic actuator. Such actuators are simple in design and can generate a sufficiently high actuating force for clamping various bending workpieces.

[0015] The holding station can include a control unit for controlling the clamping drive. Alternatively or additionally, the clamping drive can also be controlled, for example, by a machine control unit of a bending machine. This can either enable autonomous operation of the holding station or allow the holding station to be controlled via the bending machine.

[0016] The holding device or the holding station can be part of a bending machine.

[0017] If the holding device is designed according to claim 8, then the actuating unit is preferably attached or attachable to the upper bending beam by means of the first attachment section, and the first clamping jaw is attached or attachable to the lower bending beam by means of the second attachment section, or vice versa. This allows the holding device to be used in a similar way to the bending tools on the bending machine. The existing drive of the bending machine can advantageously be used to generate the actuating force.

[0018] Preferably, the bending machine comprises a handling robot for handling the workpiece to be bent, wherein the handling robot comprises a gripper for gripping the workpiece to be bent, preferably a vacuum gripper or a pincer gripper. The gripper can perform the re-gripping process and can feed the workpiece to the bending machine.

[0019] For a better understanding of the invention, it is explained in more detail using the following figures.

[0020] They show in a highly simplified, schematic representation:

[0021] Fig. 1 shows a holding device according to the invention in an exemplary embodiment; Fig. 2 shows a holding station in an exemplary embodiment;

[0022] Fig. 3 a bending machine with a holding device and with a handling robot;

[0023] Fig. 4 a bending machine with a holding station and a handling robot.

[0024] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be applied analogously to the new position in the event of a change in position.

[0025] Figure 1 shows a holding device 1 for holding a bent workpiece 2, in particular a sheet metal workpiece. The holding device 1 has a clamping unit 3 for clamping the bent workpiece 2 and an actuating unit 4 for actuating the clamping unit 3. The clamping unit 3 has a stationary first clamping jaw 5 and a second clamping jaw 7 that is movable relative thereto. The clamping jaws 5, 7 can be made, for example, of a suitable metallic material.

[0026] The first clamping jaw 5 comprises a first clamping section 6 and the second clamping jaw 7 comprises a corresponding second clamping section 8. A first clamping surface 33 is provided on the first clamping section 6 and a second clamping surface 34 is provided on the second clamping section 8, which faces the first clamping surface 33. When the clamping unit 3 is in the release position shown in Fig. 1, the first clamping surface 33 and the second clamping surface 34 are spaced apart from one another at a fixed distance in order to form a receiving space for the bent workpiece 2. The distance can be fixed, for example, depending on common sheet thicknesses. If necessary, the distance can also be variable.

[0027] To hold a bent workpiece 2, the bent workpiece 2 can first be inserted into the receiving space between the first clamping section 6 and the second clamping section 8, as indicated by the corresponding arrow in Fig. 1. The clamping unit 3 is in the release position for this purpose. The clamping unit 3 can then be actuated by the actuating unit 4, so that the second clamping jaw 7 is moved relative to the first clamping jaw 5 and the bent workpiece 2 is clamped between the first clamping surface 33 and the second clamping surface 34.

[0028] The second clamping jaw 7 of the clamping unit 3 comprises an actuating section 9, and the actuating unit 4 comprises a contact section 10. A contact surface 35 is provided on the contact section 10, and an actuating surface 36 is provided on the actuating section 9. During operation of the holding device 1, the actuating unit 4 and the clamping unit 3 are arranged such that the actuating surface 36 and the contact surface 35 face each other.

[0029] To actuate the clamping unit 3, an actuating force FB can be exerted on the actuating section 9 of the clamping unit 3 via the contact section 10 of the actuating unit 4, by which the second clamping jaw 7 is movable relative to the first clamping jaw 5 in order to clamp the bending workpiece 2 between the first clamping section 6 and the second clamping section 8. To transmit the actuating force FB, the contact surface 35 is contacted by the actuating surface 36.

[0030] In the example shown, the actuating unit 4 comprises a stationary first actuating part 11 and a second actuating part 12 that is movable relative to the first actuating part 11. The contact section 10 is arranged on the second actuating part 12. The second actuating part 12 is guided on the first actuating part 11 and is spring-loaded relative to the first actuating part 11 by means of a first spring device 13. The second actuating part 12 is preferably held captively on the first actuating part 11, for example by a positive-locking guide.

[0031] In a similar manner, the second clamping jaw 7 is guided on the first clamping jaw 5 and is spring-loaded relative to the first clamping jaw 5 by means of a second spring device 14. The second clamping jaw 7 is also preferably held captively on the first clamping jaw 5, e.g., again by a positive guide. In the example shown, the second clamping jaw has a type of L-shaped cross-section.

[0032] The first leg, arranged vertically here, is received in a guide recess of the first clamping jaw 5. The second spring device 14 is arranged within the guide recess and exerts a preload force, acting vertically upwards here, on the second clamping jaw 7. The actuating section 9 and the second clamping section 8 are located on the second leg, arranged horizontally here, of the second clamping jaw 7. The actuating surface 36 is located on an (upper) side of the second clamping jaw 7 facing away from the guide recess. The second clamping surface 34 is located on an (underside) of the second leg of the second clamping jaw 7 facing the first clamping jaw 5.

[0033] The first suspension device 13 can comprise at least one first spring 15, in particular a compression spring. Additionally, a first damper 16 can optionally be provided. Similarly, the second suspension device 14 can comprise at least one second spring 17, in particular a compression spring, and optionally a second damper 18. For illustrative purposes, schematic circuit diagrams of the first suspension device 13 and the second suspension device 14 are shown in Fig. 1. Such suspension devices are known. The specific structural design of the suspension devices 13, 14 is therefore the responsibility of the person skilled in the art.

[0034] In the illustrated embodiment, the first actuating part 11 of the actuating unit 4 has a first fastening section 19 for attachment to a tool holder 20 of a bending beam 22. The first fastening section 19 is provided on a side of the first actuating part 11 opposite the actuating section 10 or the second actuating part 12. Thus, the actuating unit 4 can be attached, for example, to a movable upper bending beam 22a of a bending machine 30, as indicated in Fig. 1.

[0035] Analogously, the first clamping jaw 5 of the clamping unit 3 comprises a second fastening section 21 for fastening to a tool holder 20 of a bending beam 22 of a bending machine 30. The second fastening section 21 is provided on a side of the first clamping jaw 5 opposite the second clamping jaw 7. This allows the clamping unit 3 to be fastened, for example, to a stationary lower bending beam 22b, as indicated in Fig. 1.

[0036] Fig. 2 shows a holding station 23 comprising a holding device 1. The holding device 1 can be designed as described with reference to Fig. 1. To avoid repetition, with regard to the features of the holding device 1, reference is made to the above statements, which apply analogously.

[0037] The holding station 23 has a fixed holding console 24 and an actuating punch 25 that is movable relative thereto. The holding console 24 can, for example, be arranged stationary on the floor next to a bending machine 30, as shown in Fig. 4. The actuating unit 4 of the holding device 1 is fastened to the actuating punch 25, and the first clamping jaw 5 of the clamping unit 3 of the holding device 1 is fixed to the holding console.

[0038] 24. However, a reverse arrangement would also be possible. The holding station 23 can have a frame G that supports the holding console 24 and the movable actuating piston

[0039] 25. A suitable guide can be provided on the frame G, on which the actuating piston 25 is guided, here in the vertical direction.

[0040] Furthermore, the holding station 23 comprises a clamping drive 26 for moving the actuating piston 25 relative to the holding console 24. The clamping drive 26 is only indicated schematically in Fig.2 and can, for example, comprise a hydraulic, mechanical or pneumatic actuator 27.

[0041] The holding station 23 can also have a control unit 28 for controlling the clamping drive 26. Alternatively or additionally, the clamping drive 26 could also be controlled, for example, by a machine control unit 29 of a bending machine 30, as indicated by dashed lines in Fig. 2. For this purpose, the clamping drive 26 can be connected directly to the machine control unit 29, for example, via a suitable electrical control line.

[0042] However, control could also be carried out indirectly via the control unit 28. For this purpose, the control unit 28 can be connected, for example, to the machine control unit 29 via a suitable interface (not shown).

[0043] Fig. 3 shows a side view of a bending machine 30. The bending machine 30 has a frame G comprising a stationary lower bending beam 22b and a movable upper bending beam 22a. The upper bending beam 22a is movable relative to the lower bending beam 22b by means of a suitable drive device (not shown), for example a hydraulic drive device. The upper bending beam 22a can be guided in a substantially vertical direction, for example, along the guide schematically indicated in Fig. 3. The bending machine 30 also has a machine control unit 29 for controlling the bending machine 30. The machine control unit 29 is designed at least to control a drive device (not shown) of the upper bending beam 22a in order to control the movement of the upper bending beam 22a.

[0044] The upper bending beam 22a and the lower bending beam 22b each extend over a specific width, here perpendicular to the plane of the drawing. The upper bending beam 22a has a standardized tool holder 20 for receiving an upper tool (not shown), and the lower bending beam 22b has a standardized tool holder 20 for receiving a lower tool (not shown).

[0045] A holding device 1 according to the invention is arranged on the bending machine 30. The holding device 1 can be designed as described with reference to Fig. 1. To avoid repetition, reference is again made to the above explanations. The actuating unit 4 of the holding device 1 is fastened to the tool holder 20 of the upper bending beam 22a by means of the first fastening section 19. The first fastening section 19 preferably corresponds to a standardized fastening section of a bending tool, in particular an upper tool.

[0046] The first clamping jaw 5 of the clamping unit 4 is fastened to the tool holder 20 of the lower bending beam 22b by means of the second fastening section 21. The second fastening section 21 preferably corresponds to a standardized fastening section of a bending tool, in particular a lower tool. The arrangement could also be reversed, i.e., the actuating unit 4 could in principle also be arranged on the lower bending beam 22b and the clamping unit 3 on the upper bending beam 22a.

[0047] Furthermore, a handling robot 31 is provided for handling the bending workpiece 2.

[0048] The handling robot 31 is embodied here, for example, as a multi-axis industrial robot and includes a gripper 32 for gripping the bent workpiece 2. The gripper 32 is embodied here as a known vacuum gripper, but could also be designed as a pincer gripper. The gripper 32 is preferably attached to the end effector of the handling robot 31 in a removable manner.

[0049] The handling robot 31 can, on the one hand, feed the bending workpiece 2 to the bending machine 30 using the gripper 32 to perform a bending process. For this purpose, the bending workpiece 2 can be clamped and bent in a known manner between the upper tool (not shown) and the lower tool (not shown). If a gripping of the bending workpiece 2 is required to perform a further bending process, the bending workpiece 2 can be fed to the holding device 1 by the handling robot 31 and clamped therein, as already described.

[0050] For this purpose, the bending workpiece 2 can first be inserted by the handling robot 31 into the receiving space between the first clamping section 6 and the second clamping section 8 of the clamping unit 4, as indicated by the corresponding arrow in Fig. 3. The clamping unit 4 is in the release position for this purpose. Then, analogous to performing a bending process, the upper bending beam 22a can be moved toward the lower bending beam 22b until the contact surface 35 of the contact section 10 of the actuating unit 4 contacts the actuating surface 36 of the actuating section 9 of the clamping unit 3.

[0051] Upon further movement, the actuating force FB can be exerted by the contacting section 10 of the actuating unit 4 on the actuating section 9 of the clamping unit 3, whereby the bending workpiece 2 is clamped between the first clamping surface 33 of the first clamping section 6 of the first clamping jaw 5 and the second clamping surface 34 of the second clamping section 8 of the second clamping jaw 7.

[0052] When the bent workpiece 2 is held on the holding device 1, the gripper 32 can grip the bent workpiece 2, i.e., change its position on the bent workpiece 2. The holding device 1 can then be released again by moving the upper bending beam 22a in the opposite direction, here upwards, until the contact section 10 releases the actuating section 9. Due to the preload force of the second spring unit 14, the second clamping jaw 7 can be moved back into the release position, and the bent workpiece 2 can be removed again by the handling robot 31.

[0053] Fig. 4 shows a bending machine 30 with a handling robot 31 and a holding station 23. The bending machine 30 and the handling robot 31 can be designed essentially as shown in Fig. 3, and the holding station 23 can be designed essentially as in Fig. 2. To avoid repetition, reference is made to the above explanations. An exemplary upper tool 37 is arranged here on the tool holder 20 of the upper bending beam 22a. An exemplary lower tool 37 is arranged here on the tool holder 20 of the lower bending beam 22b. The holding console 24 of the holding station 23 can be arranged in a stationary manner at a suitable location on the floor. In the embodiment shown, the clamping drive 26 of the holding station 23 is connected, for example, to the machine control unit 29 of the bending machine 30 and can be controlled by it.For example only, the handling robot 31 is arranged between the bending machine 30 and the holding station 23. The handling robot 31 can operate both the bending machine 30 and the holding station 23. Of course, the bending machine 30, the handling robot 31, and the holding station 23 could also be positioned differently relative to one another.

[0054] The handling robot 31 can have a robot control unit (not shown), which can, for example, also be connected to the machine control unit 29 of the bending machine 30 and can be controlled by it.

[0055] For example, the handling robot 31 can first feed the bending workpiece 2 to the bending machine 30 to perform a bending operation, wherein the bending workpiece 2 can be clamped and bent in a known manner between the upper tool 37 and the lower tool 38. If a re-gripping of the bending workpiece 2 is required to perform a further bending operation, the handling robot 31 can remove the bending workpiece 2 from the bending machine 30 and feed it to the holding station 23, where it can be clamped.

[0056] For this purpose, the bent workpiece 2 can first be inserted into the receiving space between the first clamping section 6 and the second clamping section 8 of the clamping unit 4 by the gripper 32 of the handling robot 31. The clamping unit 3 is located in the release position for this purpose. The actuating punch 25 can then be moved toward the holding bracket 24 until the contact surface 35 of the contact section 10 of the actuating unit 4 contacts the actuating surface 36 of the actuating section 9 of the clamping unit 4.

[0057] As a result, the actuating force FB can be exerted on the actuating section 9, whereby the bending workpiece 2 is clamped between the first clamping surface 33 of the first clamping section 6 of the first clamping jaw 5 and the second clamping surface 34 of the second clamping section 8 of the second clamping jaw 7, as shown in Fig.4.

[0058] When the bent workpiece 2 is held on the holding device 1 of the holding station 23, the gripper 32 can grip the bent workpiece 2, i.e., change its position on the bent workpiece 2. The holding device 1 can then be released again by moving the actuating punch 25 in the opposite direction, here upwards, until the contact section 10 releases the actuating section 9. Due to the preload force of the second spring unit 14, the second clamping jaw 7 can be moved back to its starting position, and the bent workpiece 2 can be removed again by the handling robot 31.

[0059] The embodiments show possible embodiments, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiments thereof, but rather various combinations of the individual embodiments with each other are also possible and this possibility of variation lies within the skill of the person skilled in the art in this technical field due to the teaching of technical action by means of the objective invention.

[0060] The scope of protection is determined by the claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying these independent inventive solutions can be derived from the description.

[0061] All information on value ranges in this description is to be understood as including any and all sub-ranges thereof, e.g. the information 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10, ie all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0062] For the sake of clarity, it should be noted that some elements have been shown not to scale and / or enlarged and / or reduced in size to improve understanding of the structure.

[0063] Holding device 30 bending machine

[0064] Bending workpiece 31 handling robot

[0065] Clamping unit 32 grippers

[0066] Actuating unit 33 First clamping surface of the first clamping jaws 34 Second clamping surface of the first clamping section 35 Contact surface of the second clamping jaws 36 Actuating surface of the second clamping section 37 Upper tool

[0067] Actuating section 38 lower tool

[0068] Contact section G frame first actuating part FB actuating force second actuating part first suspension device second suspension device first spring first damper second spring second damper first fastening section

[0069] Tool holder second fastening section

[0070] Bending beam

[0071] stop station

[0072] Holding bracket

[0073] Actuating stamp clamping drive

[0074] Actuator

[0075] Control unit

[0076] Machine control unit

Claims

P a t e n t a n s p r ü c h e 1. A holding device (1) for a bending machine (30) for holding a bending workpiece (2), characterized in that the holding device (1) comprises a clamping unit (3) for clamping the bending workpiece (2) and an actuating unit (4) for actuating the clamping unit (3), wherein the clamping unit (3) comprises a stationary first clamping jaw (5) on which a first clamping section (6) is provided and a movable second clamping jaw (7) on which a second clamping section (8) and an actuating section (9) are provided, that the actuating unit (4) comprises a contact section (10), and that the actuating unit (4) is designed to exert an actuating force (FB) on the actuating section (9) of the clamping unit (3) via the contact section (10), by means of which actuating force the second clamping jaw (7) is movable relative to the first clamping jaw (5),to clamp the bending workpiece (2) between the first clamping section (6) and the second clamping section (8).

2. Holding device (1) according to claim 1, characterized in that a first clamping surface (33) is provided on the first clamping section (6) and a second clamping surface (34) is provided on the second clamping section (8), which faces the first clamping surface (33), wherein the bending workpiece (2) can be clamped between the first clamping surface (33) and the second clamping surface (34).

3. Holding device (1) according to claim 1 or 2, characterized in that a contact surface (35) is provided on the contact section (10) of the actuating unit (4) and an actuating surface (36) is provided on the actuating section (9) of the clamping unit (3), which faces the contact surface (35) during operation of the holding device (1), wherein the contact surface (35) can be contacted by the actuating surface (36) for transmitting the actuating force (FB).

4. Holding device (1) according to one of claims 1 to 3, characterized in that the actuating unit (4) comprises a fixed first actuating part (11) and a second actuating part (12) which is movable relative to the first actuating part (11), wherein the contact section (10) is arranged on the second actuating part (12).

5. Holding device (1) according to one of claims 1 to 4, characterized in that the second actuating part (12) is guided on the first actuating part (11) and is sprung relative to the first actuating part (11) by means of a first spring device (13).

6. Holding device (1) according to one of claims 1 to 5, characterized in that the second clamping jaw (7) is guided on the first clamping jaw (5) and is spring-loaded relative to the first clamping jaw (5) by means of a second spring-loaded device (14).

7. Holding device (1) according to claim 5 or 6, characterized in that the first suspension device (13) comprises at least one first spring (15), in particular a compression spring, and preferably at least one first damper (16) and / or that the second suspension device (14) comprises at least one second spring (17), in particular a compression spring, and preferably at least one second damper (18).

8. Holding device (1) according to one of claims 1 to 7, characterized in that the actuating unit (4), preferably the first actuating part (11), has a first fastening section (19) for fastening to a tool holder (20) of a bending beam (22), preferably a movable upper bending beam (22a), of a bending machine (30) and that the first clamping jaw (5) has a second fastening section (21) for fastening to a tool holder (20) of a bending beam (22) of a bending machine (30), preferably a fixed lower bending beam (22b).

9. Holding station (23) for a bending workpiece (2) with a holding device (1) according to one of claims 1 to 8, characterized in that the holding station (23) comprises a fixed holding console (24) and an actuating punch (25) movable relative thereto, wherein the actuating unit (4) of the holding device (1) is fastened to the actuating punch (25) and the first clamping jaw (5) of the holding device (1) is fastened to the holding console (24) or vice versa and that the holding station (23) comprises a clamping drive (26) for moving the actuating punch (25) relative to the holding console (24).

10. Holding station (23) according to claim 9, characterized in that the clamping drive (26) comprises a hydraulic, mechanical or pneumatic actuator (27).

11. Holding station (23) according to claim 9 or 10, characterized in that the holding station (23) comprises a control unit (28) for controlling the clamping drive (26) and / or that the clamping drive (26) can be controlled by a machine control unit (29) of a bending machine (30).

12. Bending machine (30) comprising a holding device (1) according to one of claims 1 to 8 or a holding station (23) according to one of claims 9 to 11.

13. Bending machine (30) according to claim 12, wherein the holding device (1) is designed according to claim 8, wherein the actuating unit (4) is fastened or can be fastened to the upper bending beam (22a) by means of the first fastening section (19) and the first clamping jaw (5) is fastened or can be fastened to the lower bending beam (22b) by means of the second fastening section (21) or vice versa.

14. Bending machine (30) according to claim 12 or 13 comprising a handling robot (31) for handling the bending workpiece (2), wherein the handling robot (31) comprises a gripper (32) for gripping the bending workpiece (2), preferably a vacuum gripper or a pincer gripper.

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