JPH0798231B2 - Manipulator for sheet metal processing - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a manipulator used for sheet metal processing, and more particularly to a sheet metal processing apparatus having two rotary holding members that can move in three directions. The present invention relates to a manipulator used for forming a sheet metal. This sheet metal processing device
For example, it can be a sheet metal press used for forming a sheet metal.

(Prior Art and Problems) Sheet metal processing for forming a sheet metal by automatically passing through the sheet metal using a pre-programmed method for forming the sheet metal into a desired shape and performing various required processing. Devices are already known. The manipulator used in such a sheet metal processing apparatus is particularly large in size and weight of the sheet metal that is the workpiece, and one operator can change the sheet metal into
This is useful when it is impossible or difficult to move without other assistance. When gripping a sheet metal, usually two pairs of rotating tongue members are used to hold the sheet metal horizontally and the tongue members are carefully moved in three directions.

The known device employs a structure in which two pairs of tongue-shaped members are used to grip opposite edges of a sheet metal as a workpiece. However, since the surface of the sheet metal is inherently easily scratched, while repeatedly using the conventional tongue-shaped member,
The surface of the sheet metal is damaged, and a defect such as a pressing trace of the tongue-shaped member is left.

Furthermore, the known device with suction cups as grip members is also unsatisfactory. When such a suction cup is used, the sheet metal bends, and especially when the sheet metal is thin, the slack becomes extremely large.Therefore, an extremely large number of suction cups must be used to make the entire surface of the sheet metal uniform. The inconvenience of having to do so arises. Since the size of the sheet metal that is the work piece varies widely, it is almost impossible to obtain a holding device having a suction cup and having a practical value.

Finally, considering the case where the gripping strip member is acted along two parallel edges of the sheet metal, it is possible to use such a strip member because the sheet metal has a considerable rigidity and the strip member is used. Only when the sheet metal does not sag when it is grabbed between them.

(Object of the Invention) An object of the present invention is to provide a manipulator having a very simple structure and capable of easily and reliably holding a sheet metal without damaging the sheet metal.

(Summary of the Invention) In view of the above object, the present invention provides a sheet metal working manipulator provided with two rotation holding members movable in three directions, which is used when processing is performed by a sheet metal working apparatus. The rotary holding member includes a clamping member and a holding device, the clamping members acting as a pair along two parallel edges of the sheet metal, and the holding device acts on the surface of the sheet metal. The distance between the clamp members is adjusted so that the clamp members are used to apply pressure parallel to the surface of the sheet metal, while the holding device also acts on the sheet metal, the direction of action being the clamp. The member is perpendicular to the sheet metal clamping direction.

When a holding member having a clamp member acting on the surface of the sheet metal and a holding device is used, a tongue-shaped member is used in the first processing step, or a band-shaped member and a suction cup acting as a gripping member are used. By using, the workpiece metal sheet is gripped along its two parallel edges and after this first machining step, i.e. after the metal sheet is no longer flat and has been bent. Furthermore, it is possible to grip the sheet metal by using only the strip-shaped member that has a gripping function and put it into a state in which subsequent processing can be performed. This action process can be performed directly. The reason is that the rigidity of the sheet metal increases substantially in the first processing stage.

(Examples) Hereinafter, examples of two modes of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a sheet metal working manipulator according to one embodiment of the present invention. This sheet metal working manipulator has a side portion 1, and this side portion 1 is attached to a front portion of a sheet metal working apparatus,
It is possible to move based on the coordinates formed by the two coordinate axes. Two frames 2 are provided on this side portion 1,
Two guide beams 3 are fixed to the frame 2, and the guide beams 3 extend vertically downward. A horizontal connecting beam 4 is provided between the guide beams, and the connecting beam 4 can move up and down along the two guide beams 3. A spindle 5 is attached to each of the guide beams 3, and the spindle 5 also extends vertically downward.
The spindle 5 is driven by a drive motor 6, and the drive motor 6 is attached to the central portion of the double frame 2. In this structure, the motor 6 drives each horizontal shaft 7, each end of the horizontal shaft 7 faces the motor 6, and the bevel gear 8 transmits the rotational movement of each shaft 7 to the spindle 5. You can also Further, an appropriate nut 9 is engaged with the spindle 8, the spindle 5 is moved by the spindle 8, and the connecting beam 4 is moved up and down by the movement of the spindle 5.

The rail 10 is attached to the connecting beam 4, and this rail is
The central portion of 10 has a shape that prevents movement of the transport device. The transfer device 11 is suspended and supported by two rails in a movable state. A drive motor 12 is mounted in the center of the connecting beam 4 and moves the transport device 11 along a half-shaped rail. A wheel 13 having a gear part drives the chain 15. The chain 15 is guided by the direction changing roller 14 to perform endless movement. Since one carrier device 11 is coupled to the lower chain and the other carrier device 11 is coupled to the upper chain, moving the chain 15 back and forth causes the carrier devices 11 to approach each other. Alternatively, it can be moved in the direction of separation. The connecting portions between the chain 15 and the transport device 11 are indicated by reference numerals 16 and 17.

Vertical support members 18 and 19 are provided on each of the transport devices 11, and a holding member 20 is attached to the lower end portions of the support members 18 and 19, and the holding member 20 has a tongue shape or a shape that acts as a grip. The tongue-shaped portion or the portion having a shape acting as a gripper grips a sheet metal as a workpiece and performs a rotational movement about a horizontal axis. Lower jaw 21 on each holding member 20
A jaw 22 is attached which has a gripping action. Further, a strip-shaped member 23 having a gripping action is attached to each of the lower jaws 21. This gripping strip 23 lies on a vertical cross section. Two strip-shaped members 23 for holding the lower jaw 21 are provided, and the two strip-shaped members 23 are located directly opposite to each other and can hold the sheet metal. The belt-shaped member 23 having the gripping action presses the surface of the sheet metal in parallel, and the force for pressing the sheet metal becomes the force for holding the sheet metal. By adjusting the separation distance of the lower jaw 21, it is possible to adjust the force of gripping the sheet metal.

The jaw 22 has a gripping surface 25. This gripping surface 25 is parallel to the surface of the sheet metal. Below this gripping surface 25, the gripping surface of the lower jaw 21
26 is attached. The gripping surface 26 of the lower jaw 21 corresponds to the gripping surface 25 of the jaw 22. Since the jaw 22 having the gripping action described above can move up and down relatively with respect to the lower jaw 21, the two faces 25 and 26 having the gripping action can be opened and closed. Can act as. Air cylinder operated by air to operate this tongue
27 is provided to close the jaws 22 which the air cylinder 27 serves to grip. It is the spring that acts to keep the jaws 22 that hold this grip open.

The holding member 20 is attached to an L-shaped supporting device 28 as a whole, and the supporting device 28 itself is firmly attached to a shaft 29. The holding member 20 is rotatably attached to the lower ends of the vertical supporting members 18 and 19 by using bearings 29 '. The end of the shaft 29 faces the support member 28 and supports the wheel 30 of the V-shaped belt, which is connected to the drive wheel 30 'via an endless belt (not shown). As shown in FIG. 2, since the drive wheel 30 'is held by the shaft 30' having a spline, the drive wheel 30 'can move synchronously with the wheel 30 of the V-shaped belt. Therefore, when the transport device 11 shifts, the wheels 30, 30 'move in the same way. The drive wheel 30 'moves along a shaft 30 "having a spline and at the same time acts to drive the wheel 30.

The manipulator described above operates as follows. That is, the tongue-shaped member is used along the two parallel edges between the two gripping surfaces 25, 26 of the required size and flat shape of the workpiece sheet metal. grab. The gripping action can be performed because the air cylinder 27 presses the upper jaw 22 having the grasping action toward the lower jaw 21 having the grasping action. After gripping the sheet metal in this manner, the sheet metal is sent to a sheet metal processing device (not shown). In order to send out the sheet metal, it is necessary to guide the sliding member so as to move in two directions (the directions of the X axis and the Y axis) and adjust the height of the connecting beam 4. After such a first operation is performed, the sheet metal is not already flat, but has an appropriate shape.
The rigidity of this sheet metal is generally increasing. In this state, there is no need to operate the manipulator,
Alternatively, the sheet metal can be held along two parallel edges between the two gripping strips 23 of the lower jaw 21. Subsequent processing can be further applied to the sheet metal.

The surface of the sheet metal is very easily scratched.However, according to the above method, when the sheet metal is handled, the tongue-shaped member is used to prevent the surface of the sheet metal from being scratched, and the trace of the pressing force of the tongue-shaped member is obtained. It can be left without leaving any scars.

Further, FIG. 3 shows a basic shape and structure of a manipulator according to the second embodiment of the present invention. This manipulator is also used with a sheet metal processing device (not shown). This sheet metal working apparatus is a conventional sheet metal working apparatus, has a die that can be replaced or adjusted, and further has a ram device. The ram can move relative to the die, and the ram can be used to bend the sheet metal. A sheet metal which is a work piece is indicated by reference numeral 31 in FIG. Two grip members 32 are provided for gripping the sheet metal, and the grip members 32 are used to grip two parallel edges 33 of the sheet metal and hold the sheet metal between the grip members. At the same time, the holding device 34 is applied to the surface of the sheet metal and the suction cup
35 is evacuated, the suction cup 35 is used to grip the sheet metal, and the slack of the sheet metal when the clamp member 32 is gripping the sheet metal is prevented using the suction cup 35.

Both the clamping member 32 and the holding device 34 have a holding beam 36.
The holding beam 36 itself is attached to the U-shaped suspension device 37a by means of two crank-shaped arms and is capable of rotating about a horizontal axis 39. This axis of rotation 39 lies on the surface of the sheet metal and can rotate up to 180 degrees in either direction. In addition, a suspension device 37a is attached to the beam 36, which suspends the beam 36 in any direction about a vertical axis 38.
Can be rotated once. A motor 43 is provided in order to rotate around this horizontal axis. This motor 43 is fixed to the suspension device 37a,
The chain wheel 50 is driven via the 4 and the chain 45. The chain wheel 50 is attached to the axis 39.
The crank-shaped arm 37 is mounted for rotation about an axis 39, and these devices are clamp members.
The beam 36 can be held in cooperation with 32 and the holding device 35 and the sheet metal can be rotated. Rotation about a vertical axis is performed by the motor 46 and gear wheels 51,52,
The gear wheels 51, 52 rotate the entire suspension device 37a.

Finally, the suspension 37a is mounted with the holding beam 36 and the rotator so that the suspension 37a can move in three directions. Suitable suspensions are known and will not be described in detail here. With such a structure, height, width, and length can be adjusted.

The U-shaped suspension device 37a is formed by a horizontal box-shaped beam 40 and two similar beams 41, which are two ends of the horizontal box-shaped beam 40. Attached to form a retaining beam 36 and a rotating device. The holding beam 36 also has a crank-shaped arm 37.
Clamping member 32 and holding device 34 are mounted, and the rotating device includes two motors 43,46 and associated chain driving force transmission members 44,45,51,52.

A shaft at each protruding end of the crank-shaped arm 37
47 is mounted in abutting manner, the part 47 in which this arm 37 is abutted is inserted in a bearing 48, which is provided in a vertical beam 41.
The part 47 abutting on one shaft has an extension part 49, which extends beyond the bearing 48 and supports the chain wheel 50, the chain 45 being the chain wheel 50 and the gear wheel. We are guided by 44 and move.

As already mentioned, the device as a whole is held in such a way that it can be adjusted in any of the three directions, and suitable support devices for carrying out such support are known. Then, detailed description is omitted. However, suitable sliding members are provided to provide such support. This sliding member is vertically adjustable and supports the suspension device 37a together with its attachments. The length and width of the mounting portion of the sliding member can be adjusted. The details of this shape are Austrian patent No.
No. 378,701.

The holding beam 36 is attached to the unsupported end of a vertical beam 41, which extends downwardly. The holding beam 36 can rotate about a horizontal axis. This structure allows 180 degrees rotation in any direction. In other words, this means that both clockwise rotation and counterclockwise rotation are possible. This rotation is centered on the shaft abutting against the gear wheel 50, and the gear wheel 50 itself is connected to the gear wheel 44 of the servo motor 43 via the chain 45.

The holding beam 36 is box-shaped and has a guide rail 53 inside.
The guide rail 53 is fixed to the holding beam 36 by a wedge-shaped member 54. The clamp member 32 is fixed to the rail 53. This way, this 2
The distance between the two clamp members can also be increased or decreased.
The holding device 34 is also attached to the holding beam 36. Details of the structure of the holding device 34 will be described with reference to FIG.

As shown in FIG. 4, the first sliding member 55 is movably attached to the rail 53, the first sliding member 55 supports the rod 56, and the rod 56 extends vertically. It penetrates an elongated slit 57. This slit 57 forms the upper limit of the holding beam 36. The upper, unsupported end of the rod 36 is connected to the piston 59 via the piston rod 58.

The piston 59 is housed in the cylinder 60, and a force is applied to both sides of the piston 59. The cylinder 60 is rotatably fixed in the housing of the holding beams 36, 61.

The second sliding member 62 is attached at a position separated from the first sliding member 55, and a mechanism for rotating the chain is also provided in this portion. The mechanism for rotating the chain comprises chains 63, 64, which surround the direction changing rollers 65, 66 and are guided by the rollers 65, 66. The rollers 65 and 66 are attached to both ends of the guide rail 53, and reliably connect the two sliding members 52 and 53 to each other. When the piston 59 and the piston rod 58 move the first sliding member 55 in the right direction in FIG. 4, at the same time, the chain 64 moves the second sliding member 62.
The distance that the second sliding member 62 moves is equal to the distance that the first sliding member 55 moves. When the first sliding member 55 moves to the left, the action of the chain 63 causes the second sliding member 62 to move.
Moves to the right.

Each of the sliding members 55 and 63 is attached to a holding member 67, and the holding member 67 extends downward. Holding beam
The lower end of 36 is defined by a corresponding elongated longitudinal slit 68 which guides the retaining member 67. A horizontal clamp member 69 is attached to a lower portion of the holding member 67, and the clamp member 69 holds and holds parallel edges of a sheet metal 70 which is a workpiece to face each other.

The action of gripping the sheet metal of the clamp member 69 is
Since only 69 is not enough to hold the sheet metal 70 without deforming it, the suction cup 35 is used to compensate for this. The number of suction cups 35 used is one or more. The suction cup 35 is applied to the surface of the sheet metal to hold the sheet metal. In the figure, two suction cups 35 are attached to the suction plate 71.
Is attached. The suction plate 71 has a hollow main body, and is fixed to the central portion of the holding beam 36 using a suspension device 72. The suspension device 72 is hollow and is connected to a vacuum device via a pipe 73. FIG. 4 shows an outline of this pipe 73 using only lines. Suspension device 72
Has a large rigidity, for example, a tube, and the tube can freely move in the guide member 74. The guide member 74 extends downward. The position of the lower end of the tubular suspension device 72 is limited by a stop ring 75. Further, in order to support the tubular suspension device 72, a braking device operated by compressed air is provided. The braking device has a brake body part 76,
Has a braking jaw 77 which surrounds the suspension and is driven by a cylinder 78. This cylinder is connected to a compressed air supply device via a pipe 79. The pipe 79 is schematically shown in FIG. 4 by using a line. The cylinder is also attached to the body portion 80 of the frame, which body portion 80 is fixed to the outer surface of the lower limit portion of the retaining beam 36. The body portion 80 of this frame partially surrounds the braking device 76 and has a recess in the center, into which the suspension device 72 and the guide device 74 are inserted.

The sheet metal 70 that is the workpiece is placed on the support bracket 81 in the initial stage. Next, the manipulator is actuated to engage the clamp member 69 with the two parallel edges of the sheet metal 70, apply the suction cup 35 to the surface of the sheet metal, and push the suspension device 72 back slightly as shown in FIG. . The initial position of the sheet metal when processing the sheet metal using the automatic bending apparatus is shown in plan view in FIG. The bending die 82 used for performing this bending is schematically illustrated by using only the wire, but when performing bending using this die 82,
First, the sheet metal 70 is placed on the support bracket 81. Then, the manipulator is moved to the position clearly shown in FIG. 5, and the clamp member 69 is used to grasp the two parallel edges of the sheet metal. To do so, as shown in FIG.
59 is moved from right to left, and at the same time, the holding device 34, which is above the sheet metal and suspended for free movement, is pushed back slightly and the suction cup 35 is applied to the surface of the sheet metal 70.
Release the operation of the braking device 76, simply lower the holding device 4,
The suspension device 72 is lowered together with the suction plate 71 and the suction cup 35. This lowering operation is performed by utilizing the weight of the suspension device 72. At this stage, the compressed air-operated braking device 76 is operated to support the suspension device 72 in the utilization position, and the pipe 73 is evacuated to vacuum the central portion of the sheet metal. In this state, the sheet metal 70 does not sag. After this, the entire manipulator is moved toward the bending apparatus, the sheet metal is lifted from the support member 81, the edge 83 of the sheet metal 70 faces the bending apparatus, and the edge 83 of the sheet metal 70 with respect to the bending apparatus. In a parallel state, the other side of the die 82 is brought into contact.
Then, the holding devices 67 are moved in directions away from each other, and the clamp members 69 are released. In addition, suction cup 35
The vacuum state is released, and the suction cup 35 is removed from the surface of the sheet metal. In the case where the position where the bending process is performed is, for example, using the stopper 84 and behind the bending device, in order to move the sheet metal to the position where the bending process is performed, first, it is supported by the supporting bracket. Activate the conveyor belt 85. After completely removing the sheet metal from the belt of the conveyor, the clamp members 69 are moved toward each other to bring the clamp members into the state shown in FIG. 6, and in this state, the sheet metal 70 is brought into contact with the die 82. While stop 84
Press to the position of. In this way, the sheet metal can be bent, so that the ram can be used for bending. During this bending process, the clamp member 69 engages with the edge of the portion of the sheet metal in front of the bending die and acts to assist the operation of lifting the sheet metal. In this way, the clamp member performs a supporting action during bending, and thus can be used as a supporting member.

Therefore, the clamp member 69 not only acts as a clamp member, but also acts as a support member for supporting the lower side of the sheet metal, and further can maintain the sheet metal in a workable state.

Then, the clamp member 69 is again moved to the side edge of the sheet metal 70 together with the suction cup 35, and for example, the manipulator is rotated or moved to bring the sheet metal 70 to an appropriate position for performing the subsequent processing. To move.

Further, the supporting bracket 81 can be attached to the belt 85 of the conveyor as described above, and the height can be adjusted appropriately and the distance between them can be adjusted.

The last-mentioned form is particularly suitable when a light, narrow sheet metal has to be bent several times and cannot be gripped with the tongue.
Since the vacuum-operated holding device is used, the edge of the sheet metal can be reliably gripped with ease. Further, unless the sheet metal is frequently grasped using the tongue-shaped member, the surface of the sheet metal is not pressed, so that the sheet metal can be handled particularly carefully. This is because pressing with a tongue-shaped member not only has an invisible effect, but also has an unfavorable effect on the dimensional accuracy of the product.

[Brief description of drawings]

FIG. 1 is a partial longitudinal sectional view of a sheet metal working manipulator according to a first embodiment of the present invention, FIG. 2 is a plan view including a transverse section of the manipulator of FIG. 1, and FIG. 2 is a schematic diagram showing the basic shape of a sheet metal working manipulator, FIG. 4 is a schematic diagram of a portion having a gripping action, and FIGS. 5 to 7 are sheet metal working according to a second aspect of the present invention. 6 is a schematic view showing a basic shape of a manipulator for use in different applications. 1 ... side of manipulator, 2 ... frame, 3 ...
Guide beam, 4 ... Connection beam, 6 ... Drive motor, 10 ... Rail, 11 ... Conveyor, 12 ... Drive motor, 13 ... Wheel, 14 ... Direction changing roller, 15 ... …
Chain, 18,19 …… Supporting member, 20 …… Holding member, 21 ……
Lower jaw, 22 …… Gripping jaw, 23 …… Strip-shaped member, 24 …… Sheet metal, 25,26 …… Gripping action, 27
...... Air cylinder, 28 ...... Support member, 29 ...... Shaft,
30 …… wheel, 30 ′ …… driving wheel, 30 ″ …… shaft,
32 ... Grip member, 33 ... Sheet metal edge, 34 ... Holding device, 35 ... Suction cup, 36 ... Holding beam, 37 ... Crank-shaped arm, 37a ... Suspension device, 40, 41 ...... Beam, 43 …… Drive motor, 44 …… Gear wheel, 45 ……
Chain, 47 …… Shaft butting part, 50 …… Chain wheel, 51, 52 …… Gear wheel, 53 …… Guide rail, 55 …… First sliding member, 56 …… Rod, 57 …… Slit , 59 ... Piston, 60 ... Cylinder, 61 ... Holding beam, 62 ... Second sliding member, 63, 64 ... Chain, 65,
66 ... Direction changing roller, 67 ... Holding member, 69 ... Clamping member, 70 ... Sheet metal, 71 ... Suction plate, 72 ... Suspension device, 75 ... Stop ring, 76 ... Braking Main body of device, 77 …… Brake jaw, 78 …… Cylinder, 79 …… Pipe, 80 …… Frame body, 81 …… Support bracket, 82 …… Bending die, 83 …… Edge of sheet metal, 84
...... Stopper, 85 …… Conveyor belt.

Claims (20)

[Claims] 1. A sheet metal working manipulator used when a sheet metal as a work piece is processed by a sheet metal working apparatus, wherein the sheet metal working manipulator includes a rotation holding member capable of moving in three directions, and the rotation holding member. A member including a clamp member and a retainer, the clamp members acting in pairs to act on the surface of the sheet metal along two parallel edges of the sheet metal to adjust the distance between the clamp members. Thus, the clamp member applies a pressure parallel to the surface of the sheet metal, and the direction in which the holding device acts on the sheet metal is a right angle with respect to the direction in which the sheet metal is clamped. 2. The manipulator for sheet metal working according to claim 1, wherein the holding member has both a tongue-shaped member for clamping and a belt-shaped member for gripping. 3. A support structure part fixed to a sliding member movable in the directions of two coordinate axes and supporting a vertically adjustable beam for gripping a sheet metal as a workpiece. The two holding members of the
The spacing of the two holding members is adjustable and is rotatably mounted by a horizontal shaft so that the holding members can be used as tongues or as gripping strips. The manipulator for sheet metal processing according to claim 1 or 2, wherein 4. The support structure part is in the form of two beams, to which two guide beams are attached, the guide beams extending vertically downward, the guide beams being connected between them. A guide beam for guiding the connecting beam, the connecting beam being vertically adjustable.
The manipulator for sheet metal processing according to any one of 1 to 3. 5. A conveying device, which is driven by a chain driving mechanism and moves on a rail, is attached to a guide beam and moves in mutually opposing directions. A manipulator for sheet metal processing according to item. 6. A holding member having both a clamp tongue member and a gripping band member is rotatably fixed to the lower end of a vertical support portion. The manipulator for sheet metal processing according to Item 1. 7. Each holding member has both a lower jaw and a clamping jaw, and the lower jaw has both a horizontal gripping surface and a vertical gripping member. , The clamping jaw can move relative to the lower jaw, and the clamping jaw has a surface for gripping, and the clamping jaw has a surface for gripping. The manipulator for sheet metal working according to any one of claims 1 to 6, wherein the manipulator is located at a position facing a surface of the side jaw that has a gripping action. 8. A shaft is driven by a V-belt, and a drive wheel of the V-belt is held by the shaft having a spline and moves in synchronization with the movement of the conveying device. The manipulator for sheet metal processing according to any one of 1. 9. The holding device is constituted by a suction cup,
The manipulator for sheet metal processing according to claim 1, wherein the suction cup prevents slack of the sheet metal gripped. 10. A clamp member and a retainer are attached to the retainer beam, the retainer beam being housed in a suspension, and two crank-shaped arms adapted to rotate the retainer beam about a horizontal axis. The manipulator for sheet metal processing according to claim 1, which is supported. 11. The sheet metal working manipulator according to claim 1, wherein the rotation axis is on the surface of the sheet metal. 12. A motor is provided for performing rotation about the horizontal axis, the motor is fixed to a suspension device, and the motor rotates about the axis via wheels and chains. The method according to claim 1, wherein
The manipulator for sheet metal processing according to any one of 10 and 11. 13. Suspension device comprising a horizontal vertical beam and 2
Two transverse beams, the two transverse beams being attached to the two ends of the longitudinal beam to form a supporting frame, and the suspension device relative to the holding beam. A rotating device, which is movable, and whose relative movement is rotatable about a vertical axis with a crank-shaped arm, a clamping member and a holding device, and wherein said suspension device comprises two motors. 13. Relative to, and this relative movement is rotatable about a vertical axis.
The manipulator for sheet metal processing according to any one of 1. 14. A shaft is mounted so as to abut against the protruding end of each crank-shaped arm, and the abutted shaft is inserted into a bearing of a transverse beam support portion, and the abutment is carried out. One of said shafts has an extension, which extends beyond a bearing, which bearing carries a drive chain wheel.
Or the manipulator for sheet metal processing according to any one of 11 above. 15. A guide rail is provided inside the holding beam, and a clamp member is fixed to the guide rail.
15. The sheet metal working manipulator according to claim 1, wherein the distance between the individual clamp members can be increased or decreased. 16. A sliding member, to which a clamp member is mounted, is attached to each of the guide rails, the clamp members are connected to each other, and the connection allows the guide rails to move in mutually opposite directions. Claim to be
The sheet metal working manipulator described in 15. 17. A structural part composed of a piston and a cylinder is provided, the structural part composed of the piston and the cylinder directly moves the sliding member, and the structural part composed of the piston and the cylinder is secured to another sliding member. 17. The manipulator for sheet metal processing according to claim 16, wherein the manipulator is connected to the. 18. A suction cup of a holding device is attached to a suction plate, a main body portion of the suction plate is hollow, and a central portion of the suction plate is fixed to a holding beam by a suspension device. Characterized in that it is in the shape of a tube, has a high rigidity, is mounted so that it can move freely in the guide member, and the position of the lower end of the suspension device is limited by a ring that acts as a stop. The sheet metal working manipulator according to any one of claims 1 to 17. 19. A compressed air actuated braking device is provided,
18. The braking device has a structure that operates by compressed air supplied from a compressed air supply device, and is mounted so as to be supported by a suspension device.
The sheet metal working manipulator described in. 20. The lower part of the supporting bracket receives the sheet metal in a state of facing each other, and each of the supporting brackets is provided with a belt of a conveyor, and the belts of the conveyor are horizontally adjustable with respect to each other and have a high height. The manipulator for sheet metal working according to any one of claims 1 to 19, wherein the height can be adjusted.