DE102018108863A1 - Bending device for elongated workpieces - Google Patents

Abstract

In a bending device (1) with at least one bending device (2) and a multi-joint robot (3) with a robot arm (4), at the end of a rotary pliers (5) is provided, with a workpiece (6) tensioned, the bending device (2) can be fed, rotated and tracked during bending at the bending device (2), the rotary tongs (5) comprises: a rotatable base plate (7) with a radial insertion gap (8) for inserting a workpiece (6), having on both sides of the insertion gap (8) pivotally mounted jaws (9, 10), each having a head portion (13, 14). The jaws (9, 10) are pivotable with their head portions (13, 14) against each other. The head areas (13, 14) are provided on their sides facing each other with grooves (15, 16) open towards the other clamping jaw (10, 9). The axes of rotation (11, 12) of the clamping jaws (9, 10) are perpendicular to the opening surface of the insertion gap (8). The clamping jaws (9, 10) are in an open position, in which the insertion gap (8) is completely free, in a clamping position in which by means of their head portions (13, 14) a workpiece (6) is clamped between them, and in a Intermediate position is pivotable, in which the workpiece (6) is received unimpeded with play and in its longitudinal direction (L) and in its direction of rotation is freely movable.

Description

The invention relates to a bending device for elongated workpieces, comprising at least one bending device and a multi-joint robot with a robot arm, at the end of a device for receiving and clamping a workpiece is provided by means of which the workpiece detects the bending device supplied to his Rotated longitudinal axis and can be tracked during bending according to the retraction movement of the bending device.

In the invention, a large part of a classical bending machine is replaced by a multi-joint robot with a robot arm. Such a bending machine is by way of example from the EP 1 651 367 B1 known, where the robot with its robot arm radially rotates the workpiece, if desired. However, a rotatable clamping device is not attached to the robot arm.

When in the DE 20 2015 100 467 U1 Bender described a bending robot is described with an end-side tongs, which, however, can be opened and closed only in a very specific rotational position, so that the opening and closing of this pipe wrench is not possible in each rotational position.

From the DE 692 08 243 T2 (according to the EP 0 554 433 B1 ) a wire bending apparatus with robot and separate bending heads is known. In this case, the robot arm has a device for receiving, clamping and rotating a workpiece, wherein for the wire gripping device, a drive motor for a rotary body is provided, which has a fixed and a movable bracket with wire insertion groove. In this case, the gripping device is spring-loaded in the normal state. Also in this prior art, the rotary tongs used can also be opened and closed only in a specific rotational position.

In contrast to this state of the art, the invention aims to provide a bending device of the type mentioned above in which the device for receiving and clamping the workpiece can be opened and closed in any desired rotational position and which also allows it to be arranged their base plate at an angle of 90 ° to the workpiece longitudinal axis to make a change in the position of gripping the recorded workpiece without this in turn is moved.

• - eine an einen Drehantrieb angeschlossene Grundplatte;
• - die Grundplatte ist mit einem radial von ihrem Mittelbereich aus zum Umfang hin laufenden Einführspalt versehen, in den ein aufzunehmendes Werkstück einführbar ist;
• - beidseits des Einführspaltes sowie symmetrisch zu diesem ist jeweils eine an ihrem einen Ende um eine Schwenkachse verschwenkbare Klemmbacke angebracht, die an ihrem anderen Ende mit einem Kopfbereich ausgestattet ist, wobei die beiden Klemmbacken dieses Klemmbackenpaares mit ihren Kopfbereichen gegeneinander verschwenkbar sind;
• - die Kopfbereiche beider Klemmbacken sind an ihren einander zugewendeten Seiten jeweils mit einer zur anderen Klemmbacke hin offenen Aufnahmenut zur Anlage gegen das Werkstück versehen, die an beiden Kopfbereichen in einander entsprechenden Lagen angebracht sind;
• - die Schwenkachsen der Klemmbacken sind senkrecht zur Öffnungsfläche des Einführspaltes ausgerichtet;
• - die beiden Klemmbacken sind in eine Offenstellung, in welcher der Einführspalt völlig frei ist, ferner in eine Spannstellung, in der mittels der Kopfbereiche der Klemmbacken ein Werkstück zwischen diesen verspannbar ist, und in eine der Spannstellung benachbarte Zwischenstellung verschwenkbar sind, in welcher das Werkstück in beiden Aufnahmenuten unter Ausbildung eines Spieles in diesen ungeklemmt sowie relativ zu den Klemmbacken in seiner Längsrichtung und in seiner Drehrichtung bewegbar aufgenommen ist.

This is achieved in a bending device of the type mentioned above in that the device for receiving and clamping the workpiece has the following:

• - A connected to a rotary drive base plate;
• - The base plate is provided with a radially extending from its central region to the circumference insertion slot into which a male workpiece is insertable;
• - On both sides of the insertion and symmetrically to this one at its one end pivotable about a pivot axis jaw is attached, which is equipped at its other end with a head portion, the two jaws of this pair of jaws with their head portions are mutually pivotable;
• - The head portions of both jaws are provided on their mutually facing sides each with an open to the other jaw receiving groove for abutment against the workpiece, which are mounted on both head portions in mutually corresponding positions;
• - The pivot axes of the jaws are aligned perpendicular to the opening surface of the insertion;
• - The two jaws are in an open position in which the insertion gap is completely free, further in a clamping position in which by means of the head portions of the jaws a workpiece between them can be clamped, and in a clamping position adjacent intermediate position are pivotable, in which the workpiece in both grooves with the formation of a game in these unclamped and relative to the jaws in its longitudinal direction and in its direction of rotation is movably received.

Such a device, which is used for picking up, clamping and also twisting a workpiece, is usually referred to as a "pipe wrench" or as a "rotary wrench", the latter term is to be used in the following for this device.

In the invention, the mutually pivotable clamping jaws are inserted so that their rotation or pivot axes, which are aligned perpendicular to the opening surface of the insertion of the base plate, thus also have an orientation parallel to the longitudinal direction of the guided through the insertion of the workpiece and thus clamping on the workpiece at an angle of 90 ° to the workpiece longitudinal axis.

In the invention, for the jaws of the jaw pair in addition to their Clamping position and the position in which the insertion of the base plate is completely free, also provided an intermediate position lying in the vicinity of the clamping position, in which the heads of the two jaws are still a small gap away from each other than in the clamping position, so that the recorded workpiece on both sides protrudes into the grooves of the two jaw head regions, thus still recorded in the grooves of the jaws and not released from this, on the other hand, the workpiece but there is not jammed or clamped between the two jaws, but to form a game (in the form of an air gap) is present in the grooves and thus the jaws are movable relative to it both in its longitudinal direction, as well as in its direction of rotation. This is referred to as a "release function" which allows the tongs to freely rotate about and move along a workpiece received between their jaws without the workpiece falling out of the tongs.

As a result of the clamping of the workpiece in the invention at 90 ° to the workpiece longitudinal axis and the mutual processing of the workpiece without grasping is possible.

In the bending device according to the invention, the rotary tool used there is designed so that it can be opened or closed in any desired rotational position, where it also has a Lüftfunktion and engages the recorded workpiece at an angle of 90 ° to the workpiece longitudinal axis.

The rotary tongs used in the bending device according to the invention can be carried out in lightweight and has a very compact design, which can achieve a cost-effective solution.

An advantageous embodiment of the invention is that the pivoting movement of each jaw is forcibly controlled in each case via a cam and / or a slotted guide, said guides for both jaws are each formed on a slidably mounted on the base control device. Preferably, the control device for each jaw with both a cam curve for pivoting the jaws towards each other, which cooperates with a rotatably mounted on the respective jaw cam roller, and, separated from this, yet with a sliding groove for pivoting both jaws away from each other, provided into which a groove engaging element attached to the respective jaw, for example the axis of the cam roller designed as an engagement bolt, protrudes. The cam curve and the cam groove in each jaw is formed corresponding to each other, so that in a control by the cam curve during pivoting of the jaws on each other to the guide slide assemblies for pivoting the jaws away from each other at the same time according to the respective rotational position of the jaw are synchronously through. Instead of Kuligennut but could also be provided a second cam curve, in which case each of the two cam curves associated therewith is only effective in each case in a pivoting direction at each jaw.

In a preferred embodiment of the invention, the sliding movement of the control device is controlled by pneumatic cylinders, the piston rods are each attached at its one end to the rotatable base plate and which protrude with the attached at their other ends piston in the control device mounted cylinder. The use of such pneumatic cylinder enables the achievement of a very low weight of the entire unit and, in conjunction with the combination of the cam or slide control, to the fact that a comparatively large clamping force can be achieved. Also, the described arrangement of the pneumatic cylinder is compact in a special way.

Particularly preferably, the control device in the invention assigned to four pneumatic cylinders, in each case two on their respective one of the jaws associated page.

In order to enable rapid replacement of the jaws in adaptation to a required geometry of the inserted workpiece, in particular with regard to the grooves in the clamping head areas, it is particularly advantageous if each of the two jaws, each including its axis of rotation, by means of a suitable quick-change system the base plate is fixed, such as suitable snap or locking fasteners.

In a further preferred embodiment of the invention, the base plate is mounted on a mounted at the end of the robot arm housing and provided with guides which engage in mounted on the housing rollers for pivotal mounting of the base plate, whereby a rotation of the base plate is ensured by 360 °. It is preferred that the rollers are mounted on the housing so that they form at least three support racks with the guides in each rotational position.

At least two driven pinions are preferably also provided on the housing, which are connected to a suitable drive source are connected and engage in a circumferentially mounted on the base plate gear segment and are driven in synchronism. This allows the rotation of the base plate by 360 °, without the toothed segment on the base plate out of tooth engagement.

A particularly preferred embodiment of the control device is that it has a substantially U-shaped configuration, which is mounted symmetrically to the center line of the insertion and along this slidably formed.

• 1 eine perspektivische Teilansicht einer erfindungsgemäßen Biegeeinrichtung, nämlich einen Vielgelenkroboter mit einer Rohrzange, einer Biegeeinrichtung und, dieser zugeordnet, einer schwenkbaren Gleitschieneneinrichtung;
• 2 eine perspektivische Darstellung eines Abschnitts des Roboterarmes aus 1, mit endseitiger Rohrzange und einem Werkstück;
• 3 eine Vorderansicht der Grundplatte der verwendeten Drehzange in geöffnetem Zustand;
• 4 eine Vorderansicht (perspektivisch) auf die Grundplatte der verwendeten Drehzange in deren geschlossenem Zustand;
• 5 eine Vorderansicht der verwendeten Drehzange (perspektivisch) in deren gelüfteter Zwischenstellung;
• 6 eine Darstellung des Drehmechanismus der Drehzange;
• 7 eine Vorderansicht der verwendeten Drehzange, in einer beliebigen Drehlage geöffnet.

The invention will now be explained in more detail by way of example with reference to the drawings in principle. Show it:

• 1 a partial perspective view of a bending device according to the invention, namely a multi-jointed robot with a pipe wrench, a bending device and, associated with this, a pivotable slide rail device;
• 2 a perspective view of a portion of the robot arm 1 , with end pipe wrench and a workpiece;
• 3 a front view of the base plate of the rotary tongs used in the open state;
• 4 a front view (in perspective) on the base plate of the rotary tongs used in its closed state;
• 5 a front view of the rotary tongs used (perspective) in their ventilated intermediate position;
• 6 a representation of the rotating mechanism of the rotary tongs;
• 7 a front view of the used tongs, opened in any rotational position.

In the 1 to 7 are an embodiment or individual elements thereof a bending device 1 for elongated workpieces, such as wires, rods, tubes or the like., Shown in perspective, wherein the 1 from such a bending device 1 a bending device 2 , this associated with a pivoting slide rail device 21 as well as a multi-jointed robot 3 with a robot arm 4 shows, at the end of a device 5 for picking up and clamping a workpiece 6 is appropriate. Because the device 5 for picking up and clamping the workpiece 6 provided and designed so that they also the workpiece about its longitudinal axis L (see. 2 ), we will generally refer to this device as a pair of lathe tongs.

In 1 a bending machine is shown in which the bending device 2 the workpiece 6 deformed in the Rotationszugbiegeverfahren.

To make several bends on a workpiece 6 This will be done by the robot 3 oriented, in 1 to the left of the bending device 2 is shown. It will be from the robot 3 both the distances of the bending points to each other, as well as the rotation of the bending planes set to each other, wherein during the bending process, the material from the bending device 2 retracted and the robot 3 with his robotic arm 4 is tracked according to the retraction movement.

It should be noted at this point that the robot with its gripping system part of the bending device 1 is.

In the embodiment shown in the figures, the illustrated robot is shown 3 around a six-axis robot, which is kinematically capable of setting all degrees of freedom. However, it is the rotation of the workpiece about the workpiece axis by the robot 3 limited, since this, z. B. with a parallel gripper, not every position of the workpiece 6 could approach without having to change this.

For this purpose, in the bending device shown 1 with a pair of lathe tongs 5 worked, which has a seventh axis through which in the rotary tongs 5 clamped workpiece 6 around its central axis L (see. 2 ) can be rotated.

As in 2 shown, is the rotary tongs 5 at one at the interface of the multi-joint robot 3 attached to the gripping system mounted flange.

The rotary tongs include 5 essentially a tensioning and rotating device and a rotary drive.

As far as the tensioning and the turning device are concerned, the illustrations of the 2 and especially 3 to 5.

The starting point here is an essentially circular base plate 7 , which initially with an approximately radially extending insertion gap 8th is provided, extending from one in the middle of the base plate 7 centrally extending central area in the radial direction to the circumference of the base plate 7 extends as best in the in 3 shown position is recognizable.

On both sides of this Einführspaltes 8th each is a jaw 9 respectively. 10 a pair of jaws attached, each of the jaws 9 and 10 each about a rotation axis 11 respectively. 12 at her the edge of the base plate 7 facing end portion pivotally attached to that. It sits every jaw 9 . 10 with its axis of rotation 11 respectively. 12 in a receiving flange of a quick-change system 28 , in turn, suitably (in the figures: via two attachment points) on the base plate 7 is attached and at a desired change of jaws 9 . 10 rapid replacement of the same by suitable new jaws allowed.

Each jaw 9 . 10 is at her the axis of rotation 11 respectively. 12 opposite end with a head area 13 respectively. 14 provided, these head portions at their mutually facing sides each with a jaw to the other 10 . 9 open receptacle 15 . 16 are provided, with these grooves 15 . 16 the clamping surfaces for clamping the workpiece 6 form. To the workpiece 6 between the jaws 9 and 10 to tension, the latter are swiveled towards each other until their head areas 13 . 14 lie against each other with their sides facing each other. In this state, as he is in 4 is shown in the grooves 15 . 16 existing section of the workpiece 6 between the jaws 9 and 10 firmly clamped.

The jaws 9 and 10 are at the base plate 7 mounted so that they can assume a spaced apart position, as in 3 is shown, namely a so-called "open position" in which the opening area 17 of the insertion gap 8th is completely free and the insertion of the workpiece 6 in this insertion gap 8th through neither of the jaws 9 . 10 is somehow handicapped.

In addition to this open position, as in 3 shown can be the jaws 9 and 10 in a "tensioning position" to be folded towards each other in 4 is shown and in the head areas 13 . 14 the jaws 9 . 10 abut each other, so that in the receiving grooves 15 . 16 present section of the workpiece 6 between the jaws 9 and 10 is held firmly clamped.

In addition to the in the 3 and 4 shown open and clamping position, the jaws 9 and 10 but also in one of the tension position ( 4 ) adjacent intermediate position to be pivoted in 5 is shown and extending from the clamping position 4 differs in that here the head areas 13 . 14 the jaws 9 . 10 no longer abut each other, but between them still a small separation gap s remains. However, this separation gap s is smaller than the extension of the adjacent head regions 13 . 14 from their with their opening sides abutting grooves 15 . 16 formed width s' of the enclosed by them passage cross-section for the workpiece 6 (see. 4 ). This means that in the intermediate position according to 5 the workpiece 6 not despite the gap s between the surfaces of the grooves 15 . 16 is braced, but still can not fall out of the recordings formed by these, but there is taken between them with game and this relative to the jaws 9 and 10 rotatable, as well as relative to these in its longitudinal direction L slidably present.

To take the three positions of the jaw pair 9 . 10 , namely open position, clamping position and intermediate position, are the jaws 9 and 10 to a control device 22 connected in the form of a spool, which, like the 2 to 5 and 7 let recognize, is substantially U-shaped. This approximately U-shaped control device 22 is on the base plate 7 symmetrical to the center line M of the insertion gap 8th arranged and can be in the direction of this center line M on the base plate 7 be moved linearly. In this case, the control device 22 when moving over three guides 34 . 35 and 36 guided, with the leadership in the central axis 34 is designed as a ball roller guide, and the control device 22 at its two lying in the direction of the outer sides nor there mounted sliding guides 35 and 36 supported, as shown in principle, but not in detail, in the figure representations.

To move the spool valve 22 this is about four pneumatic cylinders 24 in the direction of displacement (namely in the direction of the center of rotation of the base plate 7 towards) which generate the required driving force. These pneumatic cylinders 24 have a piston rod 25 on, at its one end on the rotatable base plate 7 are attached and otherwise with their pistons 26 in the spool 22 trained cylinder 27 protrude, where they are operated double effective via pneumatic lines, so that the spool 22 in the direction of the axis M can be moved in opposite directions.

The arrangement of the control device 22 is chosen so that each of the two jaws 9 and 10 from one of the two side legs of the U-shaped shape of the slider 22 can be operated.

These are at the control device 22 in pairs symmetrical two drive curves and two return curves, one for each jaw 9 respectively. 10 , educated.

The drive curves are in the form of cam guides, here cam guides 18 , in each case at the associated jaw 9 respectively. 10 facing inside of the side leg of the slider 22 trained, as shown in the representations of the 3 to 5 and FIG. 7 is shown. In each case, this cam guide presses 18 as a drive curve during a movement of the control device 22 (in the representations of the 3 and 5 ) down against a cam follower assigned to it 20 at the head area 13 respectively. 14 each of the two jaws 9 respectively. 10 is freely rotatably integrated, first the clamping movement generated with a relatively large pitch and the stroke end with a small pitch then a large clamping force is triggered. The arrangement of the cam guides 18 and the adjacent cam rollers 20 for both jaws 9 and 10 is from the perspective view of 4 good removable.

The return curves attached to the controller 22 are formed are in the form of slide guides 19 provided, each as a groove in the control device 22 are formed (see the representations of 2 and 7 ). In the grooves of these slide guides, one for each jaw 9 respectively. 10 is provided, projects to the positive control of the respective jaw 9 respectively. 10 as a Nuteingriffselement displaceable therein in the illustrated embodiment, the extended axis of rotation 23 the respective cam roller 20 the respective jaws 9 respectively. 10 into it. This ensures that when opening the jaws 9 . 10 from each other, to which in the control device 22 from the axis of rotation of the base plate 7 moved away, the two jaws 9 and 10 about the slide tours 19 each open forcibly controlled.

Here are the cam guide 18 and the scenery tour 19 designed so that each one of them the associated jaw 9 respectively. 10 in a pivoting direction and the other in the other pivoting direction drives, the other, not driving thereby driving together with the co-acting with her guide element (cam roller 20 or rotation axis 23 ) to the respective jaws 9 respectively. 10 can run free.

Unlike the embodiment shown but also given the opportunity, not with a drive curve and a return curve for the pivoting movements of the jaws 9 and 10 to work, but to provide each of them with only one slide guide, which controls in both Verschwenkrichtungen.

The shown use of pneumatic cylinders 24 in combination with the groove and slotted guides 18 respectively. 19 allows the construction of a large clamping force with low weight of this unit.

To adjust the slide positions for the three positions open position, clamping position and intermediate position (the latter also now called "release position") are on the base plate 7 provided some boundary blocks:

For the clamping position, as in 4 Shown are at the bottom of the controller 22 at the base plate 7 two attacks 37 attached, against which the controller 22 upon reaching the closed position of the jaws 9 and 10 , at the latest when planting the two head areas 13 and 14 to each other, starts, like this 4 shows.

At the opposite opening movement of the control device 22 are their opposite top assigned to the base plate 7 also two attacks 38 appropriate.

Below it is, laterally offset to them, on the top of the controller 22 , every jaw 9 . 10 assigned, a steel block 39 provided (cf. 4 and 5 ), from a position in which he is not below the stop above it 38 stands ( 4 ), and a position in which he is under this attack 38 is positioned, can be adjusted. To start the intermediate position of the jaws 9 and 10 will this steel cuboid 39 in one below the respective overlying stop 38 positioned position as shown in 5 is shown. Here is the controller 22 in their movement, which is the opening of the jaws 9 and 10 away from each other by starting the steel square 39 against the respective stop above 38 the opening movement before reaching the clamping position of the jaws 9 and 10 stopped, so that in 5 shown intermediate positions are reached.

For controlling the movement of the control device 22 in the direction of a clamping position of the jaws 9 and 10 becomes the steel cuboid 39 again offset laterally toward its initial position, and indeed so far that it out of engagement with the stop above it 38 passes, so that the spool 22 continue to run upwards (in the illustration of the figures) until it is at its top against the underside of the respective stop 38 starts (see illustration of 3 and 7 ), in which case the open position of the jaws 9 and 10 is reached.

In 6 is now a representation for understanding the rotary drive of the rotary tongs 5 where:

Like from the 3 to 5 is removable, is at the jaws 9 . 10 opposite back of the base plate 7 along its circumference a rotating toothed segment 33 appropriate, that in 6 (with removed base plate 7 ) is shown. At the base plate 7 are, not shown in detail, guides mounted in rollers 31 engage, which at one at the end of the robotic arm 4 attached housing 30 are provided freely rotatable. This will be a pivot bearing of the base plate 7 on the housing 30 achieved, which ensures a rotation of 360 °. Because the rollers 31 are arranged so that, as a result of their arrangement in each rotational position of the base plate 7 at least three of these supports are effective as bearings.

The base plate 7 is by means of the toothed segment 33 over two z. B. connected via a toothed belt pinion 32 driven in synchronism, whereby a rotation through 360 ° is possible without the toothed segment 33 except meshing with the pinions 32 device. This will be one of the two pinions 32 via an angle gear (not shown) driven by an NC axis.

The tongs, as shown in the figures, now has the property that at her in any rotational position, the jaws 9 . 10 in their three adjustment positions open position, clamping position and intermediate position (ventilation position) can be spent.

7 shows as an example a different representation of the other figures rotational position of the rotary tongs 5 , where here the insertion gap 8th , compared with its location in the other figures, is rotated by 90 ° (clockwise).

In the presentation of the 7 is the insertion gap 8th open over its full length, ie the jaws 9 and 10 are in their remote open position and the slide 22 is at his jaws 9 and 10 facing away from the stops 38 at the base plate 7 underway.

Should be between the jaws 9 and 10 a workpiece during the rotation of the base plate 7 be tightened, then there is the possibility to adjust the intermediate position of the jaws in each such rotational position 9 and 10 , ie the so-called "ventilation position", causing the workpiece 6 not yet out of its holder through the jaws 9 and 10 can fall out, but is kept between these with play, so that the whole unit of the tongs 5 relative to the workpiece 6 To this can be twisted to take a new clamping position in which then again a jam can be made. In this intermediate position, the tongs could 5 but also along the workpiece 6 be moved to take a clamping position again at another length position.

For the supply of pneumatic cylinders 24 In the illustrated embodiment, three pneumatic tubes are used, by their actuation either a startup of the slider 22 in the open position or a shutdown of the slider 22 in the clamping position or retraction of the steel square 39 in its engaged position below the stops 38 can be effected to start the intermediate position. Here is the steel block 39 under spring preload so that it automatically returns to its original position upon removal of the pneumatic force.

The three pneumatic hoses are in a special protection hose 40 recorded (cf. 2 and 7 ), which prevents the hoses from being worn or kinked during operation, and to a central supply connection 41 on the slide 22 is connected to the supply channels in the slide 22 lead and on which the guide tube 40 is connected by means of a rotary feedthrough not shown in the figures.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 1651367 B1 [0002]
• DE 202015100467 U1 [0003]
• DE 69208243 T2 [0004]
• EP 0554433 B1 [0004]

Claims (9)

Bending device (1) for elongated workpieces (6), comprising at least one bending device (2) and a multi-joint robot (3) with a robot arm (4), at the end of which a device for receiving and clamping (5) a workpiece (6) is provided, by means of which a workpiece (6) stretched, the bending device (2) fed to its longitudinal axis (L) rotated and can be tracked during bending according to the retraction movement of the bending device (2), wherein the means for receiving and clamping (5) has the following: - A connected to a rotary drive base plate (7); - The base plate (7) is provided with a radially extending from its central region to the circumference insertion slot (8) for inserting the workpiece (6); - On both sides of the insertion gap (8) and symmetrically to this one at its one end about a rotational axis (11, 12) pivotable clamping jaw (9, 10) is mounted, which is formed at its other end with a head portion (13, 14) , wherein the clamping jaws (9, 10) with their head portions (13, 14) are mutually pivotable; - The head portions (13, 14) of both jaws (9, 10) are provided at their mutually facing sides each with the other jaw (10, 9) open towards receiving grooves (15, 16) which at both head portions (13, 14) are mounted in corresponding layers; - The axes of rotation (11, 12) of the clamping jaws (9, 10) are aligned perpendicular to the opening surface (17) of the insertion gap (8); - The two jaws (9, 10) are in an open position in which the insertion gap (8) is completely free, further in a clamping position in which by means of the head portions (13, 14) of the jaws (9, 10) a workpiece ( 6) is clamped between them, and pivotable into an intermediate position adjacent the clamping position, in which the workpiece (6) in both receiving grooves (15, 16) to form a game in this unbent and relative to the jaws (9, 10) in his Longitudinal direction (L) and is movably received in its direction of rotation. Bending device after Claim 1 , characterized in that the pivoting movement of each clamping jaw (9, 10) in each case via a cam (18) and / or a slotted guide (19) is forcibly controlled, each for both jaws (9, 10) on one of the base plate (7 ) are mounted displaceably mounted control device (22). Bending device after Claim 2 , characterized in that the control device (22) for each clamping jaw (9, 10) with a cam curve (18) for pivoting the clamping jaws (9; 10) to each other, with one on the clamping jaw (9; 10) rotatable mounted cam roller (20) cooperates, and that, separated from this, the control device (22) is still provided with a sliding groove (19) for pivoting both jaws (9, 10) away from each other, in which a at the respective jaw (9, 10) attached Nuteingreifelement protrudes. Bending device after Claim 2 or 3 , characterized in that the displacement movements of the control device (22) via pneumatic cylinders (24) are controlled, the piston rods (25) are respectively secured to the rotatable base plate (7) and with their piston (26) in in the control device (22). protrude mounted cylinder (27). Bending device after Claim 4 , characterized in that the control device (22) are associated with four pneumatic cylinders (24). Bending device according to one of the preceding claims, characterized in that each clamping jaw (9, 10) together with its axis of rotation (11, 12) by means of a quick-change system (28) on the base plate (7) is attached. Bending device according to one of the preceding claims, characterized in that the base plate (7) is mounted on a housing (30) attached to the end of the robot arm (4) and provided with guides which are mounted in rollers (31) mounted on the housing (30). for pivotal mounting of the base plate (7). Bending device after Claim 7 , characterized in that on the housing (30) at least two driven pinions (31) are provided, which engage in a circumferentially mounted on the base plate toothed segment (33) and are driven in synchronism. Bending device according to one of Claims 1 to 8th , characterized in that the control device (22) has a substantially U-shaped configuration which is symmetrical to the center line (14) of the insertion gap (8) and formed along this displaceable.

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