Bending installation

Abstract

The invention relates to a bending installation (1) comprising: a press brake (2) for carrying out a bending operation on a workpiece to be bent (W); and a handling robot (3) for feeding the workpiece to be bent (W) to the press brake (2) and removing the workpiece to be bent (W) from the press brake (2), wherein the press brake (2) has a longitudinal axis (L), a transverse axis (Q), and a vertical axis (H) which define a Cartesian coordinate system, wherein the press brake (2) comprises a stationary lower bending beam (4) for receiving a lower tool and a movable upper bending beam (5) for receiving an upper tool, wherein the upper bending beam (5) is movable relative to the lower bending beam (4) within a bending plane (BE) defined by the longitudinal axis (L) and the vertical axis (H), wherein the handling robot (3) is designed as an articulated-arm robot and is arranged at a distance from the bending plane (BE), as viewed along the transverse axis (Q), wherein the handling robot (3) is mounted on a mounting console (6) which is configured and arranged relative to the press brake (2) such that a main axis (A1) of the handling robot (3) is inclined at an inclination angle (α, β) relative to the vertical axis (H) of the press brake (2).

Description

[0001] BENDING MACHINE

[0002] The invention relates to a bending machine comprising a bending press for performing a bending operation on a workpiece and a handling robot for feeding the workpiece to the bending press and removing the workpiece from the bending press, wherein the bending press has a longitudinal axis, a transverse axis and a vertical axis defining a Cartesian coordinate system, wherein the bending press comprises a fixed lower bending beam for receiving a lower tool and a movable upper bending beam for receiving a upper tool, wherein the upper bending beam is movable relative to the lower bending beam in a bending plane spanned by the longitudinal axis and the vertical axis, wherein the handling robot is designed as an articulated arm robot and is arranged at a distance from the bending plane in the direction of the transverse axis.

[0003] Bending machines of this type are known in the prior art, for example from W02012063710A1 or EP2138247A2. However, particularly when performing complex bending operations on relatively large workpieces, there is a risk with such bending machines that the workpiece will collide with a part of the handling robot. This can lead to damage to the workpiece and consequently to higher scrap rates in the production process. Furthermore, a collision can also damage the handling robot, resulting in longer downtimes and increased maintenance costs. To solve this problem, attempts have been made in the past to position the bending press at a higher level. For example, the frame of the bending press was placed on a raised platform, so that the bending beams are spaced further away from the floor.Although this solution reduced the risk of collisions, it is relatively complex and therefore expensive to manufacture and assemble.

[0004] It was therefore an object of the invention to provide a bending system of the generic type that is as simple in design and cost-effective as possible, requires as little assembly effort as possible and, in particular, has a low risk of collision between the workpiece being bent and the handling robot.

[0005] The task is solved with the aforementioned bending system by attaching the handling robot to a mounting bracket designed and positioned relative to the bending press such that one of the handling robot's main axes is inclined at an angle relative to the press's vertical axis. This enables improved kinematics, allowing even relatively large workpieces to be fed to and removed from the press without collisions. The vertical axis is preferably oriented vertically. Particularly with a very steep inclination of the main axis, the comparatively large working area in the direction of the main axis can be utilized much more effectively than before.In previous applications where the main axis was vertically aligned, part of the large working area in the direction of the main axis often remained unused, since the working area of ​​the press brake is relatively long in the horizontal direction, but comparatively small in the vertical direction.

[0006] Preferably, the angle of inclination comprises a first angle of inclination in which the principal axis, viewed in the bending plane, is inclined relative to the vertical axis of the press brake. Alternatively or additionally, the angle of inclination can comprise a second angle of inclination in which the principal axis is inclined in a normal plane perpendicular to the bending plane relative to the vertical axis of the press brake, preferably in the direction of the bending plane. The first angle of inclination, in particular, has proven advantageous. This allows for more flexible adaptation to different local boundary conditions.

[0007] Preferably, the main axis is arranged parallel to the bending plane. This creates a simple design that requires relatively little assembly effort. The angle of inclination here only includes the first angle of inclination.

[0008] The first inclination angle can be 10° to 90°, preferably 30° to 85°, particularly preferably 50° to 80°, and especially 75° ± 5°. For example, the first inclination angle can be 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80° or 85°.

[0009] The second tilt angle can be up to 25°, preferably up to 45°, and particularly preferably up to 60°. For example, the second tilt angle can be in the range of 15° to 25°, or in the range of 25° to 45°, or in the range of 45° to 60°. Larger angles are particularly advantageous for handling especially large sheets without collisions and for increasing the reach.

[0010] It is advantageous if the mounting bracket and the frame of the press brake are attached to the same mounting surface, which is preferably in a horizontal plane. The frame is preferably attached directly to the mounting surface, particularly without an intermediate platform or spacer. This creates a simple and cost-effective design, as the press brake can be positioned directly on the mounting surface, eliminating the need for complex means to raise the press brake to a higher level. The mounting surface could, for example, be the floor of a production hall. Smaller feet, any shims for leveling, etc., ranging in height from millimeters to a few centimeters, are not affected by this and can, of course, still be included.

[0011] The mounting bracket can have a mounting surface to which a base of the handling robot is attached, preferably by screws. Alternatively, another type of attachment is also possible, e.g., welding. Preferably, the mounting surface of the bracket lies in a plane, and the main axis of the handling robot is perpendicular to this plane. This allows the handling robot to be mounted in a manner analogous to how it has previously been mounted, for example, on a horizontal mounting surface of a floor.

[0012] According to an advantageous embodiment, a substantially horizontal insertion plane of the bending press, provided for inserting the workpiece, is spaced in the direction of the vertical axis from a mounting surface, preferably horizontal, on which the bending press is mounted. Furthermore, an intersection point of the main axis of the handling robot with the mounting surface of the bracket is spaced vertically from the insertion plane at a distance of a maximum of ± 70%, preferably a maximum of ± 50%, and particularly a maximum of ± 30% of the insertion distance. This ensures that the handling robot is mounted at a sufficiently high height on the mounting bracket to allow for highly flexible robot poses. In particular, the handling robot can grip the workpiece from below without collision. The intersection distance can be dimensioned both upwards and downwards.The intersection point can therefore be located, for example, at the same height as the insertion level, above it, or below it.

[0013] According to an advantageous embodiment, the mounting bracket can include an adjustment mechanism for changing the tilt angle, in particular for changing the tilt of the mounting surface. This allows the tilt to be adapted very flexibly to different requirements, such as available space in the area of ​​the press brake, the size and / or type of the handling robot, the size and / or type of the press brake, the size of the workpieces being bent, etc.

[0014] The adjustment mechanism can be designed to adjust the first tilt angle and / or the second tilt angle. This further increases flexibility. While some applications may only require changing the first tilt angle, others may require adjusting the second tilt angle, either alternatively or additionally.

[0015] The adjustment mechanism can be configured to adjust the tilt angle, in particular the tilt of the mounting surface, to at least two defined, discrete positions. This allows for a simple embodiment of the adjustment mechanism, enabling, for example, the setting of two or more advantageous fixed, i.e., unchanging, angles. The two defined positions can include at least two positions with different first tilt angles and / or at least two positions with different second tilt angles. For example, a first position can correspond to a tilt angle of zero (i.e., the main axis of the handling robot is vertically oriented), and the second position can correspond to a desired first tilt angle and / or a desired second tilt angle of the main axis.

[0016] The adjustment mechanism can include a reversing platform that encompasses the mounting surface, and the reversing platform can be positioned in at least two discrete positions on the mounting bracket. This allows for a structurally simple and easy-to-operate embodiment of the adjustment mechanism. The adjustment mechanism can include a suitable locking mechanism for securing the reversing platform in the at least two discrete positions. In a simple design, reversing the platform can be performed manually. Alternatively or additionally, suitable actuators for reversing could be provided, which can be controlled by a control unit.

[0017] According to a further advantageous embodiment, the adjustment mechanism can be designed to continuously adjust the tilt angle, in particular the tilt of the mounting surface. "Continuously" here means that the tilt is essentially freely adjustable without predefined, discrete angular positions. The specific resolution or precision of the continuous adjustability is, of course, limited by the mechanical design and may, for example, be in the degree range or possibly in the minute range.

[0018] Generally, the adjustment mechanism can be manually operated, allowing for a simple and cost-effective design. The adjustment can be performed, for example, by an operator of the press brake before or after a bending operation. A suitable actuating device such as a lever or a crank could be provided.

[0019] Alternatively or additionally, the adjustment mechanism can also include an actuator, and the bending machine can include a control unit designed to control the actuator for adjusting the tilt angle. The control unit can be a control unit for the bending press and / or a control unit for the handling robot. This allows the adjustment to be performed without manual intervention, possibly remotely or automatically. For example, the adjustment could be carried out via a user interface on the bending press. The actuator could, for example, include an electric motor and a suitable gearbox.

[0020] The bending system can optionally include a translational guide device along which the mounting bracket is movable relative to the bending press. The guide device is arranged such that a guide axis runs at a guide angle of 0° to 90° to the bending plane. The guide device includes a drive unit, and the bending system comprises a control unit configured to control the drive unit for the mounting bracket. Preferably, however, the guide axis is arranged parallel to the bending plane. The control unit is preferably a control unit for the bending press and / or a control unit for the handling robot. This allows even relatively long bending presses to be operated with a relatively small handling robot. Furthermore, it enables greater flexibility with regard to tool changes, gripper changes, and workpiece handling and placement.Guide angles of 10°, 20°, 30°, 45°, 60°, or 75° (or intermediate values) are also conceivable. The drive unit can, for example, comprise an electric motor, a suitable gearbox, a chain or belt drive, etc. A linear motor would also be conceivable. Such drives are known in the prior art.

[0021] The bending system can include a receiving area for the handling robot to pick up raw parts and / or a delivery area for the handling robot to deposit finished parts, with the handling robot's mounting bracket positioned between the receiving area and / or delivery area and the bending press, viewed along the transverse axis of the press. This allows for efficient use of the handling robot's manipulation area, resulting in a bending system with a small footprint.

[0022] The mounting bracket can be arranged off-center with respect to a length of the bending press, in particular the bending beams, viewed in the direction of the longitudinal axis of the bending press, wherein the main axis of the handling robot is inclined, in particular in the first angle of inclination, towards the end of the bending press that is further away from the mounting bracket.

[0023] Alternatively, the mounting bracket can be centrally located in the direction of the longitudinal axis of the bending press with respect to a length of the bending press, in particular the bending beam.

[0024] Preferably, the bending system comprises a tool storage unit for upper tools and / or lower tools, wherein the handling robot is configured to use the upper tools and / or lower tools of the tool storage unit for a tool change on the bending press, wherein the tool storage unit is spaced away from the bending plane in the direction of the transverse axis and from the handling robot in the direction of the longitudinal axis, wherein the main axis of the handling robot is preferably inclined in a direction away from the tool storage unit or in a direction towards the tool storage unit.

[0025] Preferably, the tool storage system comprises a tool rack with a number of straight retaining rails, wherein the retaining rails are preferably aligned parallel to the transverse axis or parallel to the longitudinal axis of the press brake. The bending system can include a gripper storage system for workpiece grippers, in particular vacuum grippers and / or tong grippers and / or magnetic grippers, wherein the handling robot is configured to use the gripper storage system for gripper changes, wherein the gripper storage system is spaced from the bending plane in the direction of the transverse axis and from the handling robot in the direction of the longitudinal axis, wherein the main axis of the handling robot is preferably inclined in the direction of the gripper storage system or in the opposite direction.

[0026] Preferably, the gripper storage unit comprises a rack with a number of straight storage rails, wherein the storage rails are preferably aligned parallel to the transverse axis.

[0027] Preferably, the handling robot, including its main axis, has at least five, and preferably at least six, axes of rotation. This allows for a high degree of freedom of movement even in confined spaces. The handling robot preferably comprises a base and a body that is rotatable about the main axis relative to the base. A number of articulated arms can be attached to the body.

[0028] In particular, it is advantageous if the handling robot comprises a base and a base body rotatable about the main axis relative to the base, a first articulated arm rotatable about a second axis of rotation perpendicular to the main axis relative to the base body, wherein the second axis of rotation is located in the region of a first end of the first articulated arm, a second articulated arm rotatable about a third axis of rotation arranged parallel to the second axis of rotation, wherein the third axis of rotation is located in the region of a second end of the first articulated arm and in the region of a first end of the second articulated arm, a third articulated arm rotatable about a fourth axis of rotation perpendicular to the third axis of rotation relative to the second articulated arm, wherein the third articulated arm is located in the region of a second end of the second articulated arm, and a fourth articulated arm.which is rotatable about a fifth axis of rotation arranged parallel to the third axis of rotation relative to the third articulated arm, and comprises an end effector with a tool holder for receiving a workpiece gripper, wherein the tool holder is rotatable about a sixth axis of rotation perpendicular to the fifth axis of rotation relative to the fourth articulated arm.

[0029] The handling robot is preferably configured to assume a robot pose for inserting a workpiece into the press brake. In this pose, the first articulated arm extends obliquely downwards from the second axis of rotation, the third axis of rotation lies vertically below the second axis of rotation, preferably below the lower bending beam, particularly near the floor, and the second articulated arm extends obliquely upwards from the third axis of rotation towards the workpiece. This is particularly advantageous when the mounting bracket is designed such that the main axis of the handling robot is inclined at the second angle towards the press brake. This second angle of inclination allows the robot to assume this advantageous pose without any parts of the handling robot, especially the first articulated arm, colliding with the mounting bracket.

[0030] Preferably, the handling robot comprises a base attached to the mounting bracket, a base body rotatable about the main axis relative to the base, and a first articulated arm rotatable about a second axis of rotation perpendicular to the main axis relative to the base body. The height of the mounting bracket is set such that the second axis of rotation is approximately at the same height in the vertical direction as a substantially horizontal insertion plane of the press brake, preferably above it, for inserting the workpiece. This allows, for example, the aforementioned robot pose to be assumed more effectively, and in particular, a smaller angle between the first and second articulated arms can be achieved. This allows the mounting bracket to be positioned closer to the bending plane, enabling a more compact bending system.

[0031] It is advantageous if a substantially horizontal insertion plane of the bending press, provided for inserting the bending workpiece, is spaced at an insertion distance from a mounting surface, preferably horizontal, on which the bending press is mounted, in the direction of the vertical axis, wherein the insertion distance is 800 mm to 1500 mm, preferably 900 mm to 1300 mm, in particular 950 mm to 1150 mm.

[0032] Preferably, the press brake is designed to perform bending operations on workpieces with a length of up to 1200 mm and a width of up to 800 mm, and / or a length of up to 3000 mm and a width of up to 300 mm, and / or a length of up to 2500 mm and a width of up to 400 mm. The handling robot is preferably designed to handle the workpieces with a length of up to 1200 mm and a width of up to 800 mm, and / or a length of up to 3000 mm and a width of up to 300 mm, and / or a length of up to 2500 mm and a width of up to 400 mm. Due to the inclination of the main axis, it is possible to bend even comparatively large workpieces without collisions.

[0033] The bending length of the press brake is preferably at least 1000 mm and the reach of the handling robot is preferably a maximum of 3500 mm. This shows that comparatively large press brakes can be combined with comparatively small robots.

[0034] It can be advantageous if the mounting bracket includes a rotation mechanism configured to rotate an upper part of the mounting bracket, to which the handling robot is attached, at a defined angle of rotation about a rotational axis, particularly a vertical one, relative to a lower part of the mounting bracket, wherein the angle of rotation is preferably at least 90°. This allows, for example, the mounting bracket to be selectively rotated into a desired position in which the main axis of the handling robot is inclined either at the first angle of inclination or at the second angle of inclination.

[0035] The rotating mechanism can be manually operated, resulting in a simple design. A suitable tool, such as a crank or similar, can be provided for rotation. Similar to the adjustment mechanism mentioned above, a suitable locking device can also be provided to secure the upper part of the console in a desired position.

[0036] Alternatively or additionally, the rotary mechanism could include a rotary drive, and the bending machine could comprise a control unit designed to actuate the rotary drive to rotate the upper console section. Again, the control unit could be, for example, a control unit for the press brake and / or a control unit for the handling robot. The rotary drive could, for example, include an electric motor with a pinion gear mounted on the lower console section and a toothed ring connected to the upper console section, into which the pinion gear engages. Actuation of the electric motor then initiates the rotation.

[0037] To better understand the invention, it is explained in more detail with reference to the following figures. - O ¬

[0038] ES each show in a highly simplified, schematic representation:

[0039] Fig. 1 shows a bending machine of an exemplary first embodiment in a perspective view;

[0040] Fig. 2 Bending machine of the first embodiment in a top view;

[0041] Fig. 3 shows a bending machine of an exemplary second embodiment in a front view;

[0042] Fig. 4 shows the bending machine of the second embodiment in a side view;

[0043] Fig. 5 shows a handling robot of a preferred embodiment on a mounting bracket in a perspective view;

[0044] Fig. 6 shows a bending machine of an exemplary third embodiment in a side view;

[0045] Fig. 7 shows a mounting bracket with a rotary mechanism and an adjustment mechanism of an exemplary first embodiment in perspective view;

[0046] Fig. 8 shows the mounting bracket according to Fig. 7 with the adjustment mechanism of the first embodiment in a first position in side view;

[0047] Fig. 9 shows the mounting bracket according to Fig. 7 with the adjustment mechanism of the first embodiment in a second position in side view;

[0048] Fig. 10 shows a bending machine of an exemplary fourth embodiment in a side view;

[0049] Fig. 11 shows a mounting bracket with an adjustment mechanism of an exemplary second embodiment in perspective view;

[0050] Fig. 12 shows the mounting bracket with the adjustment mechanism of the second embodiment in a first position in side view; Fig. 13 shows the mounting bracket with the adjustment mechanism of the second embodiment in a second position in side view.

[0051] It should be noted at the outset that in the differently described embodiments, identical parts are provided with the same reference numerals or component designations, and the disclosures contained in the entire description can be applied analogously to identical parts with the same reference numerals or component designations. Furthermore, the positional designations chosen in the description, such as top, bottom, side, etc., refer to the figure directly described and illustrated, and these positional designations must be applied analogously to the new position if the position changes.

[0052] First, with reference to Fig. 1 and Fig. 2, a bending machine 1 according to an exemplary first embodiment of the invention is described in more detail. Fig. 1 shows the bending machine 1 in a perspective view.

[0053] The bending system 1 comprises a press brake 2 for performing a bending operation on a workpiece W and a handling robot 3 for handling the workpiece during the bending process. The handling robot 3 is designed as an articulated arm robot. The press brake 2 has a longitudinal axis L, a transverse axis Q, and a vertical axis H, which define a Cartesian coordinate system. The press brake 2 has, in a known manner, a fixed lower bending beam 4 for receiving a lower tool (not shown) and a movable upper bending beam 5 for receiving a upper tool (not shown). The upper bending beam 5 is movable relative to the lower bending beam 4 in a bending plane BE defined by the longitudinal axis L and the vertical axis H. The bending plane BE is thus the plane of movement of the upper bending beam 5.

[0054] In accordance with the invention, the handling robot 3 is attached to a mounting bracket 6, which is designed and arranged relative to the press brake 2 such that a main axis Al of the handling robot 3 is inclined at an angle relative to the vertical axis H of the press brake 2. The vertical axis H is oriented vertically or substantially vertically.

[0055] In the illustrated first embodiment, the principal axis Al, viewed in the bending plane BE, is inclined at a first angle α relative to the vertical axis H of the bending press 2. Furthermore, the principal axis Al is arranged parallel to the bending plane BE. The principal axis Al is thus normal or substantially normal to the transverse axis Q of the bending press 2. In particular, the principal axis Al lies in a plane that is parallel to the bending plane BE.

[0056] The first inclination angle α can be 10° to 90°, preferably 30° to 85°, particularly preferably 50° to 80°, and especially 70° ± 5°. For example, the first inclination angle can be 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, or 85°. In the illustrated example, the first inclination angle α is approximately 60°.

[0057] The frame 7 of the bending press 2, on which the bending beams 4, 5 are arranged, is preferably attached to a substantially flat mounting surface M, for example by bolting. The mounting surface M is preferably in a horizontal plane. The mounting surface M can, for example, be the floor of a hall in which the bending machine 1 is set up. In the example shown, the frame 7 is attached to the mounting surface M, in particular without an intermediate platform or spacer. The mounting bracket 6 is preferably also arranged on the mounting surface M and attached to it, for example by bolting it to the floor.

[0058] The bending machine 1 shown further comprises a translational guide device 30, along which the mounting bracket 6 is movable relative to the bending press 2. The guide device 30 is arranged, here on the mounting surface M, such that a guide axis FA (along which the mounting bracket 6 is guided) runs parallel to the bending plane BE. The guide device 30 also includes a drive device 31, and the bending machine 1 includes a control unit 29, which is designed to control the drive device 31 for driving the mounting bracket 6.

[0059] The control unit 29 can preferably be the control unit of the press brake 2, as indicated in Fig. 2. Alternatively, the control unit of the handling robot 3 or a higher-level control unit could also be used. Contrary to the illustrated embodiment, the guide device 30 could also be arranged at a specific guide angle s to the bending plane BE, which can be from 0° to 90° (0° = parallel to the bending plane BE; 90° = perpendicular to the bending plane BE).

[0060] It should be noted that the guide device 30 is optional. The bending machine 1 could also be operated without the guide device 30, in which case the mounting bracket 6 could be fixed in place, for example, directly to the mounting surface M or to the floor. The mounting bracket 6 would therefore not be movable relative to the bending press 2.

[0061] In the example shown, the mounting bracket 6 has a mounting surface 8 to which a base 9 of the handling robot 3 is attached, preferably screwed. The mounting surface 8 of the mounting bracket 6 lies in a plane, and the main axis Al of the handling robot 3 is perpendicular to this plane. In particular, the plane of the mounting surface 8 is perpendicular to the bending plane BE.

[0062] The mounting bracket 6 can, for example, be a substantially solid component made of a suitable material, preferably steel. For smaller applications with lighter handling robots 3, a design in the form of a frame, which could, for example, be constructed from individual profiles (not shown), would also be conceivable.

[0063] The bending machine 1 preferably also includes a receiving area 10 for receiving raw parts and a depositing area 11 for depositing finished parts by the handling robot 3. The mounting bracket 6 of the handling robot 3 is arranged between the receiving area 10 or depositing area 11 and the bending press 2, viewed in the direction of the transverse axis Q of the bending press 2, as can be seen in Fig. 2.

[0064] In receiving area 10 and storage area 11, workpiece carriers, in this case in the form of pallets, can be arranged for handling by a forklift. Alternatively, the transport of raw parts and / or the removal of finished parts could be automated, for example, using suitable conveying equipment, especially conveyor belts, or automated guided vehicles (AGVs). Bending machine 1, in particular receiving area 10 and / or storage area 11, can also be connected to an automated high-bay warehouse. This allows raw parts stored in the high-bay warehouse to be fed to bending machine 1 and / or bent finished parts to be stored in the high-bay warehouse.

[0065] In the illustrated embodiment, the mounting bracket 6 is centrally located with respect to the longitudinal axis L of the press brake 2, i.e., with respect to a length of the press brake 2 or a length of the bending beams 4, 5. Alternatively, the mounting bracket 6 could also be eccentrically located with respect to the longitudinal axis L of the press brake 2 or a length of the bending beams 4, 5. In this case, it would be advantageous if the main axis Al of the handling robot 3 were inclined at the first angle α towards the end of the press brake 2 that is further away from the mounting bracket 6.

[0066] In the illustrated embodiment, the bending machine 1 also includes a tool storage unit 21 for upper and / or lower tools (see Fig. 2). The handling robot 3 is designed to use the upper and / or lower tools of the tool storage unit 21 for tool changes on the bending press 2. The tool storage unit 21 is arranged at a distance from the bending plane BE in the direction of the transverse axis Q and from the handling robot 3 in the direction of the longitudinal axis L. The main axis Al of the handling robot 3 is inclined at the first angle α in a direction away from the tool storage unit 21, as can be seen in Fig. 2. However, the main axis Al could also be inclined at the first angle α in a direction towards the tool storage unit 21. For better clarity of the inclined arrangement of the handling robot 3, the tool storage unit 21 is not shown in Fig. 1.

[0067] The tool storage unit 21, as an example, comprises a tool rack with a number of straight retaining rails 22. The tool rack is arranged such that the retaining rails 22 are aligned parallel to the transverse axis Q of the press brake 2, or perpendicular to the bending plane BE. Contrary to the illustration shown, however, the tool rack could also be rotated at a certain angle about the vertical axis, for example, 90°. The retaining rails 22 would then be aligned parallel to the longitudinal axis L of the press brake 2. In this case, the tool rack could also have retaining rails 22 on both sides to achieve a higher capacity.

[0068] In the example shown, the bending machine 1 also includes a gripper storage unit 23 for grippers 20. For example, vacuum grippers, clamp grippers, and / or magnetic grippers can be used as grippers 20. The handling robot 3 is configured to use the gripper storage unit 23 for gripper changes. The gripper storage unit 23 is spaced from the bending plane BE in the direction of the transverse axis Q and from the handling robot 3 in the direction of the longitudinal axis L. The main axis Al of the handling robot 3 is inclined at the first angle a towards the gripper storage unit 23, as can be seen in Fig. 2. However, an inclination in the opposite direction would also be conceivable. For better clarity regarding the inclined arrangement of the handling robot 3, the gripper storage unit 23 is not shown in Fig. 1.

[0069] The gripper storage unit 23 can, for example, comprise a rack with a number of straight storage rails 24, wherein the storage rails 24 are preferably aligned parallel to the transverse axis Q, i.e. normal to the bending plane BE.

[0070] A substantially horizontal insertion plane 12 of the bending press 2, provided for inserting the bending workpiece, is spaced from one of the mounting surfaces M in the direction of the vertical axis H by an insertion distance Z. The insertion distance Z is 800 mm to 1500 mm, preferably 900 mm to 1300 mm, and particularly 950 mm to 1150 mm.

[0071] In the example shown, the press brake 2 is designed to perform bending operations on workpieces, particularly sheet metal, with a length a of up to 1200 mm and a width b of up to 800 mm (dimensions see Fig. 1). The handling robot 3 is also designed accordingly for handling workpieces of this size. Alternatively or additionally, the press brake 2 and the handling robot 3 could also be designed for use with workpieces with a length a of up to 3000 mm and a width b of up to 300 mm and / or a length a of up to 2500 mm and a width b of up to 400 mm.

[0072] As can be seen in Fig. 2, the bending machine 1 can also include an enclosure 25, which separates the working area of ​​the bending press 2 and the working area of ​​the handling robot 3 from the surroundings, at least in the circumferential direction. The enclosure 25 can, for example, comprise a fence and / or glazing and / or, if applicable, a housing.

[0073] This allows for the provision of a substantially enclosed bending cell. For better visibility of the inclined arrangement of the handling robot 3, the enclosure 25 is not shown in Fig. 1.

[0074] The enclosure 25 preferably also has at least one (not shown) passageway that connects the working area of ​​the handling robot 3 with the surrounding environment. This passageway can be located, for example, in the area of ​​the receiving area 10 and the placement area 11. This allows raw parts to be fed into the receiving area 10 from outside the bending cell, and finished parts to be removed from the placement area 11. The feeding and removal can be carried out, for example, using a suitable industrial truck.

[0075] The passage can be selectively opened or blocked, for example, by a gate, preferably an automatic one.

[0076] An exemplary second embodiment of the bending machine 1 is explained below with reference to Figures 3 and 4. Figure 3 shows the bending machine 1 in a front view (perpendicular to the bending plane), and Figure 4 shows the bending machine 1 in a side view. To avoid repetition, only the essential differences from the first embodiment are discussed in more detail. Regarding the common features, reference is made to the above descriptions of Figures 1 and 2, which are also valid for the second embodiment. For better visibility of the inclined arrangement of the handling robot 3, the receiving area 10, the storage area 11, the tool storage 21, the gripper storage 23, and the housing 25 are not shown in Figures 3 and 4.

[0077] The mounting bracket 6 of the handling robot 3 is again designed and arranged such that the main axis Al of the handling robot 3, viewed in the bending plane BE, is inclined at a first angle α to the vertical axis H, as can be seen in Fig. 3. In contrast to the first embodiment, however, the main axis Al is not arranged parallel to the bending plane BE here, but the main axis Al is additionally inclined in a normal plane NE perpendicular to the bending plane BE at a second angle β relative to the vertical axis H of the bending press 2 in the direction of the bending plane BE, as shown in Fig. 4.

[0078] The bending machine 1 does not include a guide device 30. This means that the mounting bracket 6 is fixed in place and is immovable, at least translationally, relative to the bending press 2. The second angle of inclination β can be up to 25°, preferably up to 45°, and particularly preferably up to 60°. For example, the second angle of inclination can be in the range of 15° to 25°, or in the range of 25° to 45°, or in the range of 45° to 60°. In the example shown, the second angle of inclination β is, by way of example, in the range of 45°. In the example shown, the mounting bracket 6 again has a mounting surface 8 to which the base 9 of the handling robot 3 is attached, preferably screwed. The mounting surface 8 of the mounting bracket 6 is again in a plane, and the main axis Al of the handling robot 3 is perpendicular to this plane.In contrast to the first embodiment, the plane of the mounting surface 8 is not normal to the bending plane of the bending press 2 due to the second angle of inclination β.

[0079] For the sake of completeness, it should be noted here that, according to an alternative (not shown) embodiment, the mounting bracket 6 could also be designed and arranged such that the principal axis Al could be inclined only at the second angle of inclination β in the direction of the bending plane BE. In this case, the principal axis Al could lie a in the normal plane NE.

[0080] With reference to Fig. 5, a mounting bracket 6 with a handling robot 3 attached to it, of an exemplary embodiment, is described below. The illustrated embodiment of the handling robot 3 applies generally and is not limited to any specific embodiment of the bending machine 1. In general, the handling robot 3, including the main axis Al, preferably has at least five, and in particular at least six, rotary axes Ai. In the example shown, the handling robot 3, including the main axis Al, has six rotary axes A1-A6. The mounting bracket 6 is attached to the mounting surface M, here, for example, by screws, as indicated.

[0081] As mentioned above, the mounting bracket 6 preferably has a mounting surface 8, which is particularly flat, to which the base 9 of the handling robot is attached, in particular by screws (or possibly by welding). The mounting bracket 6 is arranged with respect to the bending press 2 (not shown in Fig. 5) and the mounting surface 8 is shaped such that, on the one hand, the desired inclination of the main axis Al (first inclination angle a and / or second inclination angle β) is achieved, and on the other hand, the desired distance from the bending plane BE in the direction of the transverse axis Q and the desired position with respect to the length of the bending press 2 in the direction of the longitudinal axis L are achieved.

[0082] In the illustrated embodiment, the handling robot 3 comprises a base 9 and a base body 13, which is rotatable about the main axis Al relative to the base 9. The handling robot 3 further comprises a first articulated arm 14, which is rotatable about a second axis of rotation A2 perpendicular to the main axis Al relative to the base body 13. The second axis of rotation A2 is located in the region of a first end of the first articulated arm 14. The handling robot 3 also comprises a second articulated arm 15, which is rotatable about a third axis of rotation A3 arranged parallel to the second axis of rotation A2 relative to the first articulated arm 14. The third axis of rotation A3 is located in the region of a second end of the first articulated arm 14 and in the region of a first end of the second articulated arm 15.

[0083] Furthermore, the handling robot 3 comprises a third articulated arm 16, which is rotatable about a fourth axis of rotation A4 perpendicular to the third axis of rotation A3 relative to the second articulated arm 15. The third articulated arm 16 is arranged in the region of a second end of the second articulated arm 15. The handling robot 3 also comprises a fourth articulated arm 17, which is rotatable about a fifth axis of rotation A5 arranged parallel to the third axis of rotation A3 relative to the third articulated arm 16. Finally, the handling robot 3 comprises an end effector 18 with a tool holder 19 for receiving a workpiece gripper 20. The tool holder 19 is rotatable about a sixth axis of rotation A6 perpendicular to the fifth axis of rotation A5 relative to the fourth articulated arm 17. The workpiece gripper 20 is preferably interchangeable and can be designed, for example, as a known vacuum gripper, as indicated in Fig. 4, as a pincer gripper, or as a magnetic gripper (not shown).

[0084] In a known manner, the handling robot 3 can include a control unit (not shown) that can communicate with a control unit (not shown) of the bending machine, in particular the bending press 2, in order to perform a bending process on a workpiece. The control-related interaction between the bending press 2 and the handling robot 3 is known, which is why no further detailed description is given here.

[0085] An exemplary third embodiment of the bending machine 1 is explained in more detail below with reference to Figures 6 to 9. Figure 6 shows the bending machine 1 in a side view, with the normal plane NE parallel to the plane of the drawing. Figure 7 shows a mounting bracket 6 with an adjustment mechanism 26 of an exemplary first embodiment in a perspective view. Figures 8 and 9 each show the mounting bracket 6 in a side view in different positions. To avoid repetition, only the essential differences from the first and second embodiments are discussed in more detail. Regarding the common features, reference is made to the above descriptions of Figures 1 to 5, which are also valid for the third embodiment. For better visibility of the inclined arrangement of the handling robot 3, the tool storage 21, the gripper storage 23, and the housing 25 are not shown.The handling robot 3 is shown schematically and can be designed, for example, as in Fig. 5.

[0086] The mounting bracket 6 includes an adjustment mechanism 26 for adjusting the tilt angle β, in particular for adjusting the tilt of the mounting surface 8. The adjustment mechanism 26 is designed to adjust the tilt angle β, in particular the mounting surface 8, to two defined, discrete positions. These two positions comprise two positions with different secondary tilt angles β.

[0087] In the example shown, the adjustment mechanism 26 has a reversible platform 27 which includes the mounting surface 8. The reversible platform 27 can be arranged and preferably attached to the mounting bracket 6 in two discrete positions. The adjustment mechanism 26 is particularly manually operable. This means that the reversible platform 27 can be manually positioned in the two different positions on a base body of the mounting bracket 6. Depending on the requirements, either the first position or the second position can be used.

[0088] For example, a central guide pin (not shown) can be provided on the underside of the turning platform 27, which faces the mounting surface 8 and the base body of the mounting bracket 6, by means of which the turning platform 27 is held in position on the base body. The guide pin can form a pivot axis about which the turning platform 27 can be rotated relative to the base body. Furthermore, a suitable locking device can be provided for each of the discrete positions, designed to lock the turning platform 27 in the respective position on the base body.

[0089] The locking device can, for example, comprise a number of locking pins, preferably spring-loaded. The locking pins can be released to move the turning platform 27 between the available positions and can then be re-secured. Of course, other types of releasable locking mechanisms are also conceivable, such as a screw connection. Alternatively or additionally, a positive-locking engagement of a suitable, for example rectangular, contour of the turning platform 27 in a complementary locking recess in the base body could also be provided.

[0090] The first position is shown in Figures 6 to 8. The base 9 of the handling robot 3 is indicated by a dashed line in Figure 8. The mounting surface 8 is inclined such that the main axis Al of the handling robot 3 is inclined at a defined second angle β. This second angle β is, by way of example, in the range of 30°.

[0091] In the second position according to Fig. 9, the mounting surface 8 is essentially horizontally oriented. The inclined position (Fig. 8) offers advantages for bending, while the horizontal orientation (Fig. 9) is advantageous on the one hand for tool changes at the tool magazine 21 (see Fig. 2) and gripper changes at the gripper magazine 23 (see Fig. 2), and on the other hand for workpiece pickup from the pickup area 10 and workpiece placement in the storage area 11 (see Fig. 6 and Fig. 2).

[0092] As shown in dashed lines in Fig. 6, the handling robot 3 can be configured to assume a robot pose for inserting a bending workpiece W into the bending press 2, in which the first articulated arm 14 extends obliquely downwards from the second axis of rotation A2, the third axis of rotation A3 lies in a vertical direction below the second axis of rotation A2, preferably below the lower bending beam 4, particularly near the floor, and the second articulated arm 15 extends obliquely upwards from the third axis of rotation A3 in the direction of the bending workpiece W.

[0093] However, a reverse robot pose would be possible (shown in solid line), in which the first articulated arm 14 extends obliquely upwards from the second axis of rotation A2, the third axis of rotation A3 lies in a vertical direction above the second axis of rotation A2, preferably above the upper bending beam 5, and the second articulated arm 15 extends obliquely downwards from the third axis of rotation A3 in the direction of the bending workpiece W.

[0094] Figure 6 shows the substantially horizontal insertion plane 12 of the bending press 2, intended for inserting the bending workpiece W. Viewed in the direction of the vertical axis H, the insertion plane 12 is spaced at an insertion distance Z from the mounting surface M on which the bending press 2 is mounted. As further shown in Figure 6, an intersection point SP of the main axis Al of the handling robot 3 with the mounting surface 8 of the mounting bracket 6 is located vertically at an intersection point distance SPA from the insertion plane 12. The intersection point distance is preferably a maximum of ± 70%, more preferably a maximum of ± 50%, and particularly a maximum of ± 30% of the insertion distance Z.

[0095] The height of the mounting bracket 6 can therefore be set, for example, such that the intersection point SP is at the same height as the insertion level 12, or possibly below or above it. This ensures that the handling robot 3 is located at a sufficiently high height above the mounting surface M, allowing it a large degree of freedom of movement and enabling it to assume as many robot poses as possible without colliding with the bending workpiece W, the mounting surface M, or the mounting bracket 6.

[0096] In the illustrated embodiment, the mounting bracket 6 comprises a lower bracket part 39, which is attached to the mounting surface M, in particular to the floor, and an upper bracket part 38, to which the handling robot 3 is attached (see Fig. 7). The upper bracket part 38 here specifically comprises the turning platform 27 or, more generally, the mounting surface 8. The upper bracket part 38 is rotatable about the vertical axis of rotation RA relative to the lower bracket part 39, as indicated by the arrow in Fig. 7. Furthermore, the mounting bracket 6 has a rotation mechanism 37, which is configured to rotate the upper bracket part 38 about the axis of rotation RA relative to a lower bracket part 39 at a defined angle y. The angle of rotation y is preferably at least 90°. Thus, the mounting bracket 6 can, for example, be rotated by the lower bracket part 39 shown in Fig. 7.The position shown in Figure 6, in which the principal axis Al is inclined at the second angle of inclination β, is rotated by 90° into a position in which the principal axis Al is inclined at the first angle of inclination a.

[0097] The rotary mechanism 37 can be manually operated. Alternatively or additionally, the rotary mechanism 37 can also have a rotary drive 40, as indicated in Figs. 6 and 7. The bending machine 1 can include a control unit 29 configured to control the rotary drive 40 for rotating the upper part of the console 38. In the example shown, the rotary drive 40 can be controlled, for instance, by the control unit of the bending press 2. As mentioned at the outset, the rotary drive 40 can, for example, have an electric motor with a pinion and a gear ring interacting with it. Such drives are known in the prior art.

[0098] It should be noted here that the rotary mechanism 37 is independent of the adjustment mechanism 26. Therefore, within the scope of the invention, for example, a mounting bracket 6 without an adjustment mechanism 26 and with a rotary mechanism 37 could also be provided. The rotary mechanism 37 is, of course, not limited to the embodiment shown in Figures 6-9, but could also be provided in the other embodiments shown.

[0099] An exemplary fourth embodiment of the bending machine 1 is explained in more detail below with reference to Figures 10 to 13. Figure 10 shows the bending machine 1 in a front view, with the bending plane BE parallel to the plane of the drawing. Figure 11 shows a mounting bracket 6 with an adjustment mechanism 26 of an exemplary second embodiment in a perspective view. Figures 12 and 13 each show the mounting bracket 6 in a side view in different positions. To avoid repetition, only the essential differences from the previous embodiments are discussed in more detail. Regarding the common features, reference is made to the above descriptions of Figures 1 to 9, which are also valid for the fourth embodiment. For better visibility of the inclined arrangement of the handling robot 3, the gripper storage 23 and the housing 25 are not shown.

[0100] The mounting bracket 6 again features an adjustment mechanism 26. In contrast to the first embodiment of the adjustment mechanism 26 (Figs. 6-9), the illustrated adjustment mechanism 26 is designed to continuously adjust the first tilt angle a, in particular the tilt of the mounting surface 8. While the first embodiment of the adjustment mechanism 26 allows (by way of example) two discrete angular positions to be set, here essentially any angle can be set. As mentioned at the outset, the achievable precision or resolution of the stepless adjustment is naturally limited in practice by the design.

[0101] In the illustrated embodiment, the adjustment mechanism 26 has an actuator 28, and the bending machine 1 has a control unit 29 configured to control the actuator 28 for adjusting the first tilt angle a. The control unit 29 is indicated in Fig. 13 and can, for example, be the control unit of the bending press 2 or the control unit of the handling robot 3.

[0102] In the illustrated embodiment, the actuator 28 includes, by way of example, an electric motor with a pinion 32 on its rotor. The electric motor is mounted on a suitable motor bracket 33. Furthermore, a pivot plate 34 is provided, which includes the mounting surface 8 and is mounted on a pivot bracket 35. The pivot plate 34 is pivotable about a pivot axis SA relative to the pivot bracket 35. The pivot axis SA is arranged parallel to the longitudinal axis L of the press brake 2. An arc-shaped section 36 is provided on the underside of the pivot plate 34, the outer circumferential surface of which has external teeth that engage with the pinion 32 of the electric motor. The electric motor can drive the pinion 32 in opposite directions of rotation, as indicated by the double arrow in Fig. 12, thereby pivoting the pivot plate 34 to set a desired angle of inclination α.

[0103] Optionally, a suitable sensor (not shown) can be provided to detect an actual value of the position or angle, and the control unit 29 can be configured to control the actuator 28, in particular the electric motor, to set, preferably regulate, a predetermined setpoint. In Fig. 12, the mounting bracket 6 is shown in a first position in which the mounting surface 8 of the swivel plate 34 is horizontally aligned. The base 9 of the handling robot 3, mounted on the mounting surface 8, is indicated by dashed lines. The main axis A1 of the handling robot 3 is thus arranged vertically or parallel to the vertical axis of the press brake 2. A first end stop (not shown) can also be provided, which prevents further pivoting in one direction of rotation beyond the horizontal end position. The end stop can, for example, be arranged on the upper side of the motor bracket.

[0104] In Fig. 13, the mounting bracket 6 is shown in an exemplary second position, in which the mounting surface 8 is inclined. The base 9 of the handling robot 3 is again indicated by a dashed line. The main axis Al of the handling robot 3 is thus arranged at a specific first inclination angle α relative to the vertical axis H of the press brake 2. Here, the first inclination angle α is approximately 30°. Of course, the position shown is only exemplary, and any other inclination angle α could be set by the control unit 29. A second end stop (not shown) could also be provided, defining a second end position for the swivel plate 34. The second end stop could, for example, be located on an outer end face of the arc section 36 and interact with the swivel bracket 35.The exemplary embodiments show possible embodiment variants, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiment variants, but rather various combinations of the individual embodiment variants are also possible and this possibility of variation lies within the skill of the person skilled in this technical field due to the teaching on technical action by the present invention.

[0105] The scope of protection is defined by the claims. However, the description and drawings must be consulted for the interpretation of the claims. Individual features or combinations of features from the different embodiments shown and described can, in themselves, represent independent inventive solutions. The problem underlying these independent inventive solutions can be found in the description.

[0106] All references to value ranges in this description are to be understood as encompassing any and all sub-ranges thereof, e.g., the reference 1 to 10 is to be understood as including all sub-ranges, starting from the lower limit 1 and the upper limit 10, i.e., 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.

[0107] Finally, for the sake of clarity, it should be noted that, for a better understanding of the structure, some elements have been shown not to scale and / or enlarged and / or reduced in size.

[0108] Reference sign list

[0109] Bending machine 26 Adjustment mechanism

[0110] Bending press 27 turning platform

[0111] Handling robot 28 actuator

[0112] Lower bending beam 29 Control unit

[0113] Upper bending beam 30 guide device

[0114] Mounting bracket 31 Drive unit

[0115] Frame 32 sprockets

[0116] Mounting surface 33 Motor console

[0117] Base 34 Swivel plate

[0118] Recording area 35 Swivel console

[0119] Storage area 36 sheet section

[0120] Insert level 37 Rotating mechanism

[0121] Base body 38 console top

[0122] First articulated arm 39 console base

[0123] Second articulated arm 40 rotary drive

[0124] Third articulated arm Al main axis

[0125] Fourth articulated arm A2 Second axis of rotation

[0126] End effector A3 Third axis of rotation

[0127] Tool holder A4 Fourth axis of rotation

[0128] Workpiece gripper A5 Fifth rotary axis

[0129] Tool storage A6 Sixth rotary axis

[0130] Retaining rail a First tilt angle

[0131] Gripper storage ß Second tilt angle

[0132] Storage rail y rotation angle

[0133] Enclosure L Longitudinal axis Q Transverse axis

[0134] H vertical axis

[0135] BE bending plane

[0136] NE Normal plane

[0137] FA guide axis

[0138] SA swivel axis

[0139] RA axis of rotation

[0140] M Mounting surface

[0141] W bending workpiece

[0142] SP intersection

[0143] SPA intersection distance

Claims

P a t e n t a n s p r ü c h e 1. Bending system (1) comprising a bending press (2) for performing a bending operation on a workpiece (W) and a handling robot (3) for feeding the workpiece (W) to the bending press (2) and removing the workpiece (W) from the bending press (2), wherein the bending press (2) has a longitudinal axis (L), a transverse axis (Q) and a vertical axis (H) defining a Cartesian coordinate system, wherein the bending press (2) comprises a fixed lower bending beam (4) for receiving a lower tool and a movable upper bending beam (5) for receiving a upper tool, wherein the upper bending beam (5) is movable in a bending plane (BE) spanned by the longitudinal axis (L) and the vertical axis (H) relative to the lower bending beam (4), wherein the handling robot (3) is designed as an articulated arm robot and is arranged at a distance from the bending plane (BE) in the direction of the transverse axis (Q), characterized in thatthat the handling robot (3) is attached to a mounting bracket (6) which is designed and arranged relative to the press brake (2) such that a main axis (Al) of the handling robot (3) is inclined at an angle (a, ß) relative to the vertical axis (H) of the press brake (2).

2. Bending machine (1) according to claim 1, characterized in that the inclination angle (a, β) comprises a first inclination angle (a) in which the principal axis (Al) seen in the bending plane (BE) is inclined relative to the vertical axis (H) of the bending press (2), wherein the first inclination angle (a) is preferably 10° to 90°, particularly preferably 30° to 85°, most particularly preferably 50° to 80°, in particular 75° ± 5°.

3. Bending machine (1) according to claim 1 or 2, characterized in that the inclination angle (a, ß) comprises a second inclination angle (ß) in which the principal axis (Al) is inclined in a normal plane (NE) perpendicular to the bending plane (BE) relative to the vertical axis (H) of the bending press (2), preferably in the direction of the bending plane (BE), wherein the second inclination angle (ß) is preferably up to 25°, particularly preferably up to 45°, and especially up to 60°.

4. Bending system (1) according to claim 1 or 2, characterized in that the main axis (Al) of the handling robot (3) is arranged parallel to the bending plane (BE).

5. Bending machine (1) according to one of claims 1 to 4, characterized in that the mounting bracket (6) and a frame (7) of the bending press (2) are attached to the same mounting surface (M), wherein the mounting surface (M) is preferably in a horizontal plane.

6. Bending machine (1) according to claim 5, characterized in that the frame (7) of the bending press (2) is attached directly to the mounting surface (M), in particular without an intermediate platform or spacer.

7. Bending machine (1) according to one of claims 1 to 6, characterized in that the mounting bracket (6) has a mounting surface (8) to which a base (9) of the handling robot (3) is attached, preferably screwed, wherein the handling robot (3) preferably comprises a base body (13) which is rotatable about the main axis (Al) relative to the base (9).

8. Bending machine (1) according to claim 7, characterized in that the mounting surface (8) of the mounting bracket (6) lies in a plane and that the main axis (Al) of the handling robot (3) is normal to the plane.

9. Bending machine (1) according to claim 7 or 8, characterized in that a substantially horizontal insertion plane (12) of the bending press (2) provided for inserting the bending workpiece (W) is spaced at an insertion distance (Z) from a, preferably horizontal, mounting surface (M) on which the bending press (2) is mounted in the direction of the vertical axis (H), and that an intersection point (SP) of the main axis (Al) of the handling robot (3) with the mounting surface (8) of the mounting bracket (6) is spaced at an intersection point distance (SPA) from the insertion plane (12) in the vertical direction, which is a maximum of ± 70%, preferably a maximum of ± 50%, in particular a maximum of ± 30% of the insertion distance (Z).

10. Bending machine (1) according to one of claims 1 to 9, characterized in that the mounting bracket (6) has an adjustment mechanism (26) for adjusting the Inclination angle (a, ß), in particular for adjusting an inclination of the mounting surface (8), includes.

11. Bending machine (1) according to claim 10, characterized in that the adjustment mechanism (26) is designed to adjust the first tilt angle (a) and / or to adjust the second tilt angle (ß).

12. Bending machine (1) according to claim 10 or 11, characterized in that the adjustment mechanism (26) is designed to adjust the inclination angle (a, ß), in particular the mounting surface (8), in at least two defined discrete positions.

13. Bending machine (1) according to claim 12, characterized in that the at least two defined positions comprise at least two positions with different first angles of inclination (a) and / or at least two positions with different second angles of inclination (ß).

14. Bending machine (1) according to claim 12 or 13, characterized in that the adjustment mechanism (26) has a turning platform (27) which includes the mounting surface (8), and that the turning platform (27) can be arranged in at least two discrete positions on the mounting bracket (6).

15. Bending machine (1) according to one of claims 10 to 14, characterized in that the adjustment mechanism (26) is designed to continuously adjust the angle of inclination (a, ß), in particular the inclination of the mounting surface (8).

16. Bending machine (1) according to one of claims 10 to 15, characterized in that the adjustment mechanism (26) is manually operable.

17. Bending machine (1) according to one of claims 10 to 16, characterized in that the adjustment mechanism (26) comprises an actuator (28) and that the bending machine (1) comprises a control unit (29) configured to control the actuator for adjusting the angle of inclination (a, β), wherein the control unit (29) preferably comprises a control unit of the bending press (2) and / or a control unit of the handling robot (3).

18. Bending machine (1) according to one of claims 1 to 17, characterized in that the bending machine (1) comprises a translational guide device (30) along which the mounting bracket (6) is movable relative to the bending press (2), wherein the guide device (30) is arranged such that a guide axis (FA) runs at a guide angle of 0° to 90° to the bending plane (BE), preferably parallel, that the guide device (30) has a drive device (31) and that the bending machine (1) comprises a control unit (29) configured to control the drive device (31) for driving the mounting bracket (6), wherein the control unit (29) is preferably a control unit of the bending press (2) and / or a control unit of the handling robot (3).

19. Bending machine (1) according to one of claims 1 to 18, characterized in that the bending machine (1) comprises a receiving area (10) for receiving raw parts by the handling robot (3) and / or a depositing area (11) for depositing finished parts by the handling robot (3), wherein the mounting bracket (6) of the handling robot (3) is arranged between the receiving area (10) and / or depositing area (11) and the bending press (2) in the direction of the transverse axis (Q) of the bending press (2).

20. Bending machine (1) according to one of claims 1 to 19, characterized in that the mounting bracket (6) is arranged off-center with respect to a length of the bending press (2), in particular the bending beams (4, 5), viewed in the direction of the longitudinal axis (L) of the bending press (2), wherein the main axis (Al) of the handling robot (3), in particular in the first angle of inclination (a), is inclined towards the end of the bending press (2) which is further away from the mounting bracket (6).

21. Bending machine (1) according to one of claims 1 to 19, characterized in that the mounting bracket (6) is viewed in the direction of the longitudinal axis (L) of the bending press (2). with respect to the length of the bending press (2), in particular the bending beam (4, 5), is centrally arranged.

22. Bending machine (1) according to one of claims 1 to 21, characterized in that the bending machine (1) comprises a tool storage unit (21) for upper tools and / or lower tools, wherein the handling robot (3) is configured to use the upper tools and / or lower tools of the tool storage unit (21) for a tool change on the bending press (2), wherein the tool storage unit (21) is spaced apart from the bending plane (BE) in the direction of the transverse axis (Q) and from the handling robot (3) in the direction of the longitudinal axis (L), wherein the main axis (Al) of the handling robot (3) is preferably inclined in a direction away from or towards the tool storage unit (21), wherein the tool storage unit (21) particularly preferably comprises a tool rack with a number of straight retaining rails (22),wherein the retaining rails (22) are preferably aligned parallel to the transverse axis (Q) or parallel to the longitudinal axis (L) of the bending press (2).

23. Bending machine (1) according to one of claims 1 to 22, characterized in that the bending machine (1) comprises a gripper storage unit (23) for workpiece grippers (20), in particular vacuum grippers and / or tong grippers and / or magnetic grippers, wherein the handling robot (3) is configured to use the gripper storage unit (23) for a gripper change, wherein the gripper storage unit (23) is spaced apart from the bending plane (BE) in the direction of the transverse axis (Q) and from the handling robot (3) in the direction of the longitudinal axis (L), wherein the main axis (Al) of the handling robot (3) is preferably inclined in the direction of the gripper storage unit (23) or in the opposite direction, wherein the gripper storage unit (23) particularly preferably comprises a rack with a number of straight storage rails (24), wherein the storage rails (24) are preferably aligned parallel to the transverse axis (Q).

24. Bending machine (1) according to one of claims 1 to 23, characterized in that the handling robot (3) including the main axis (Al) has at least five, preferably at least six rotary axes (Ai).

25. Bending machine (1) according to claim 24, characterized in that the handling robot (3) comprises the following: - a base (9) and a base body (13) which is rotatable about the main axis (Al) relative to the base (9), - a first articulated arm (14) which is rotatable about a second axis of rotation (A2) perpendicular to the main axis (Al) relative to the base body (13), wherein the second axis of rotation (A2) lies in the region of a first end of the first articulated arm (14), - a second articulated arm (15) which is rotatable about a third axis of rotation (A3) arranged parallel to the second axis of rotation (A2) relative to the first articulated arm (14), wherein the third axis of rotation (A3) is located in the region of a second end of the first articulated arm (14) and in the region of a first end of the second articulated arm (15), - a third articulated arm (16) which is rotatable about a fourth axis of rotation (A4) perpendicular to the third axis of rotation (A3) relative to the second articulated arm (15), wherein the third articulated arm (16) is arranged in the region of a second end of the second articulated arm (15), - a fourth articulated arm (17) which is rotatable about a fifth axis of rotation (A5) arranged parallel to the third axis of rotation (A3) relative to the third articulated arm (16), and - an end effector (18) with a tool holder (19) for receiving a workpiece gripper (20), wherein the tool holder (19) is rotatable about a sixth axis of rotation (A6) perpendicular to the fifth axis of rotation (A5).

26. Bending machine (1) according to claim 25 and preferably according to claim 3, characterized in that the handling robot (3) is configured to assume a robot pose for inserting a bending workpiece (W) into the bending press (2), in which the first articulated arm (14) extends obliquely downwards from the second axis of rotation (A2), the third axis of rotation (A3) lies in a vertical direction below the second axis of rotation (A2), preferably below the lower bending beam (4), particularly near the floor, and the second articulated arm (15) extends obliquely upwards from the third axis of rotation (A3) in the direction of the bending workpiece (W).

27. Bending machine (1) according to one of claims 1 to 26, characterized in that a substantially horizontal insertion plane (12) of the bending press (2) for inserting the bending workpiece (W) is located at an insertion distance (Z) from a mounting surface (M), preferably horizontal, on which the The bending press (2) is mounted, spaced apart, wherein the insertion distance (Z) is 800 mm to 1500 mm, preferably 900 mm to 1300 mm, in particular 950 mm to 1150 mm.

28. Bending machine (1) according to one of claims 1 to 27, characterized in that the bending press (2) is designed to perform bending operations on bending workpieces (W) with a length (a) up to 1200 mm and a width (b) up to 800 mm and / or a length (a) up to 3000 mm and a width (b) up to 300 mm and / or a length (a) up to 2500 mm and a width (b) up to 400 mm and that the handling robot (3) is designed to handle the bending workpieces (W) with a length (a) up to 1200 mm and a width (b) up to 800 mm and / or a length (a) up to 3000 mm and a width (b) up to 300 mm and / or a length (a) up to 2500 mm and a width (b) up to 400 mm.

29. Bending system (1) according to one of claims 1 to 28, characterized in that the mounting bracket (6) comprises a rotary mechanism (37) which is configured to rotate a bracket upper part (38) of the mounting bracket (6), to which the handling robot (3) is attached, in a defined angle of rotation (y) about an axis of rotation (RA), in particular a vertical one, relative to a bracket lower part (39) of the mounting bracket (6), wherein the angle of rotation (y) is preferably at least 90°.

30. Bending machine (1) according to claim 29, characterized in that the rotary mechanism (37) is manually operable and / or that the rotary mechanism (37) has a rotary drive (40) and the bending machine (1) comprises a control unit (29) which is configured to control the rotary drive (40) for rotating the console upper part (38), wherein the control unit (29) is preferably a control unit of the bending press (2) and / or a control unit of the handling robot (3).

Images