Abstract: The method is of the type in which the metal sheet (W) is manipulated by means of a movable gripping member (G) of a manipulator robot controlled by a programmer (PC) according to a program for positioning successive lines of working of the metal sheet in correspondence with a pair of linear tools (16, 18).The programmer (PC) starts the working program by transporting the metal sheet to the position which corresponds with the first virtual or imaginary working line (B.sub.o). Sensors (S.sub.1, S.sub.2, S.sub.y) detect the position of the virtual working line and signal to the programmer whether and to what extent the position of this virtual working line differs from the correct position. This is equivalent to the entering in the programmer of a datum relating to the displacement of the engagement point (C.sub.o) of the gripping member from its theoretical engagement point (C) on the metal sheet.

Abstract: A press brake for bending plates. A press brake is provided for bending plates, including a pair of dies which act in mutual cooperation to bend a plate, a plate clamping manipulator which grasps and moves a plate which is to be placed in scheduled location with respect to the dies and a plate position detector mounted on the press brake in a specified positional relationship with respect to the dies, for detecting a position of the plate grasped by the manipulator, and a controller for controlling the manipulator in response to a signal from the plate position detector.

Abstract: A sheet workpiece manipulating apparatus for delivering, supporting, and removing large sheet workpieces to a sheet bending press includes a plurality of rotationally and linearly translatable support arms. A gripping device is disposed on each free end of each support arm. The sheet workpiece is captured and rigidly restrained by the paired gripping devices, such as opposing suction cups operationally connected to a vacuum source, which are detachably attached to the support arms in a magnetically cooperating arrangement. Large gripping forces are developed by the gripping devices, which are separately replacable with alternate gripping devices sized to accommodate workpieces of different sizes, shapes, and materials, as well as a particular manipulation procedure. Perforated as well as imperforated sheets may be manipulated by the apparatus due to the paired, opposing relationships of the suction cups.

Abstract: A method for indirect detecting of folding angles (.beta.) of a metal sheet (4) during the folding by a folding machine (1) which has a punch (2), and a die (3) provided with a depressed seat (5) is disclosed. The folding angle (.beta.) is obtained by algebraic summing of an angle (.alpha.) formed by adjacent two walls (10, 10, 13, 13, 13a, 13b) of the punch (2) or the seat (5) and each angle (.alpha.1, .alpha.2) between a portion (7, 8, 8a) of the metal sheet (4) and the said wall. The angles (.alpha.1, .alpha.2) formed between the said portion (7, 8, 8a) and each wall (10, 13, 13a, 13b) are calculated by using the measurements of the distances (D1, D2, D3, D4) from the wall to the portion measured at desired two points on the wall. The distances are detected by a device such as differential transformers (18, 19, 20) and pneumatic gauges (50, 51, 52, 53, 54, 55) incorporated in the punch (2) or the die (3). The angle (.beta., .beta.1, .beta.

Abstract: The sheet workpiece positioning device (10) is designed for supporting a sheet workpiece (5) along three adjacent sides thereof, by means of opposing supporting members (12 and 14) and a supporting member (13) set at right angles to the former supporting member. Preferably, at least one of the former supporting member (12 and 14) is designed to be able to slide along the latter supporting member (13). The sheet workpiece is gripped by a plurality of independent gripping devices (19, 119 and 20), evenly spaced out, side by side, and held, respectively, by the supporting members (12, 13 and 14). The gripping devices, which are long and thin, comprise a gib (39) and a front edge (45) of a U-shaped elastic member (46). An upper prong (48) of the U-shaped elastic member, interacts with an angle plate (53) held fixed by the gib and set so as to move the second gripper jaw provided on the upper prong towards the first gripping jaw (45) of the gib (39), following the traction of the U-shaped elastic members (46).

Abstract: A press brake system for bending, flanging, folding and forming an elongate and curved worksheet, and a worksheet handling device for handling such a worksheet are disclosed. The press brake system includes a press brake including a punch and a matrix which cooperate along a bending line in a working plane, and members for straightening an elongate and curved worksheet. The worksheet handling device includes members for straightening an elongate and curved worksheet. Such straightening members include: forcing members for applying force to the worksheet at central portion or end portions of a longitudinal edge, the force being in a direction perpendicular to the bending line and within a loading plane; and fixing members for fixing the worksheet so that it can not move against the force. This design enables the system to carry out appropriate bending or flanging to obtain a work with flanges of constant width along bending lines.

Abstract: A method and a device for indirect detecting of folding angles (.beta.) of a metal sheet (4) during the folding by a folding machine (1) which has a punch (2), and a die (3) provided with a depressed seat (5) is disclosed. The folding angle (.beta.) is obtained by alebraic summing of an angle (.alpha.) formed by adjacent two walls (10, 10, 13, 13, 13a, 13b) of the punch (2) or the seat (5) and each angle (.alpha.1, .alpha.2) between a portion (7, 8, 8a) of the metal sheet (4) and the said wall. The angles (.alpha.1, .alpha.2) formed between the said portion (7, 8, 8a) and each wall (10, 13, 13a, 13b) are calculated by using the measurements of the distances (D1, D2, D3, D4) from the wall to the portion measured at desired two points on the wall. The distances are detected by a device such as differential transformers (18, 19, 20) and pneumatic gauges (50, 51, 52, 53, 54, 55) incorporated in the punch (2) or the die (3). The angle (.beta., .beta.1, .beta.

Abstract: The machine includes a U-shaped princer (12) with a pair of arms (14, 16) which carry a V-sectioned linear punch (P) and a V-sectioned linear die (D) respectively. The punch (P) is fixed and the die (D) is movable. The U-shaped pincer (12) is mounted so that it can rotate both about a bending axis (V) coincident with the edge of the punch (P) and about a horizontal pivoting axis (O) which intersects the bending axis (V). A clamp (10) is adapted to grip an upper edge of a piece (W) of sheet metal so that a region thereof to be bent lies in a vertical suspension plane (B) lying between the arms (14, 16) of the U-shaped pincer (12) and containing the bending axis (V). The U-shaped pincer (12) and the clamp (10) are capable of relative movement both in a vertical direction (Z) and in a horizontal direction (X) perpendicular to the horizontal pivoting axis (O).

Abstract: The press is of the type including a pair of tool-holders mounted in a frame and carrying cooperating tools (die and punch). At least one of the tool-holders is motor-driven and is movable towards the other tool-holder. According to the invention, the press includes first drive means arranged to make one of the tool-holders travel a fairly long distance towards the other tool and second drive means, distinct from the first, for making this same tool-holder or the other tool-holder perform a subsequent, fairly-short working stroke to bend the sheet metal and to effect any coining of the bend. Preferably both of the tool-holders are movable, the second drive means being arranged to make the respective tool-holder complete a fairly short bending stroke, and the press includes third drive means, distinct from the first and second, arranged to make the same tool-holder and the other tool-holder complete a virtual stroke for coining the bend.

Abstract: A unit (1) for bending sheet metal (38) comprises a bending press (2), a device (4) for manipulating the sheet metal (38), and an auxiliary gripping device (16) for turning the metal sheet through 180.degree. about an axis (D) perpendicular to the bending line (B) of the press (12). The auxiliary gripping device (6) includes a plurality of grippers (36). The grippers (36) are carried by a support (24) fixed to the base structure (8) of the press (12) above the manipulation space (MS) at a height so that, when the grippers are above the manipulation space (MS), the auxiliary device (16) does not obstruct access of operators to the press (2) if the press is used manually. A device (111) for manipulating sheet metal (222) for a bending press (444) includes a main device (100) which is slidable along a guide beam (160) fixed parallel to the bending line (J) of the press (444) and an auxiliary gripping device (240) for turning the metal sheet over about an axis (L) perpendicular to the bending line (J).

Abstract: A press brake for bending plates. A press brake is provided for bending plates, including a pair of dies which act in mutual cooperation to bend a plate, a plate clamping manipulator which grasps and moves a plate which is to be placed in a scheduled location with respect to the dies, and a plate position detector mounted on the press brake in a specified positional relationship with respect to the dies, for detecting a position of the plate grasped by the manipulaator, and controlling the manipulator in response to a signal from the plate position detector.

Abstract: A punch machine having reduced effects of reaction forces. An apparatus is provided which divides the overall structure into two cooperating structures, one for transmitting a working (or reaction) force, and the other for maintaining the alignment between the workpiece and tool components. The apparatus includes a pair of tools movable toward and away from each other along a tool movement axis, a base or frame, tool support-and-guide components fixed on the base, components for moving and positioning a workpiece in a specified plane perpendicular to the tool movement axis, and reaction force transmitting components pivotally joined to the tool support-and-guide components.

Abstract: A manipulator device for a bending machine includes a pair of elongate die and punch for bending a workpiece. A first manipulator has a first clamping device for clamping the workpiece to be bent, a first support for supporting the first clamping device in a rotatable manner around a rotary axis parallel to the longitudinal direction of the punch and die, and a second support for supporting the first support in a movable manner in a X-axis direction parallel to the longitudinal direction of the punch and die, in a Y-axis direction perpendicular to the X-axis direction, and in a Z-axis direction parallel to the vertical direction. A second manipulator has a second clamping device for clamping the workpiece, an arm for supporting the second clamping device, and a column for supporting the arm in a rotatable manner around a rotary axis parallel to the Y-axis, the column being so constructed as to be movable toward and away from the first manipulator.

Abstract: A manipulator is provided for a plate bending machine containing an arm which extends in the vertical direction and a pair of bracket members in which one bracket member can freely approach and withdraw from the other, wherein the bracket members are provided with engaging members which can engage with and be released from an engaging section formed on the jaws for grasping a plate material. A jaw exchanging device which contains in turn a plurality of jaw release structures which can mount and remove the jaws of the manipulator and can retain the jaw before mounting and after removal thereof, and a transfer structure which can transfer the plurality of jaw release structures together between the manipulator and a jaw storage magazine, and selectively transfer any one of the jaw release structures to a jaw changing position on the manipulator in a position on the side of the manipulator are also provided.

Abstract: A welding robot for performing welding on a workpiece has a base frame, an arm mounted on the base frame, a welding torch freely rotatable around at least one axis of a tip section of the arm, and a detector on the tip section of the arm, the detector being rotatable about the axis of the welding torch. The robot has a controller which controls the movement of the arm with respect to the base frame. The controller includes an arrangement for comparing the position of the welding torch detected by the detector with a desired position preprogrammed independenlty of prior robot movement.

Abstract: A press including a frame which carries a pair of tool-holding beams lying in a common general plane. One of the beams carry a punch and the other a bending die. At least one of the beams is movable towards the opposing beam to perform a working stroke, and in the opposite direction. According to the invention, the movable beam is divided, at least effectively, into a number n of sections, n being equal to or greater than 2. The devices for moving the beam are constituted by n=1 servomotor units each of which is provided with a support coupled to the movable beam and is adapted to exert a force, through this support, for thrusting the movable beam towards the opposite beam during the working stroke. Two servomotor units are end units whose supports are coupled to respective ends of the movable beam. The other remaining servomotor is an intermediate unit whose support is situated in the transition zone between one section and another.

Abstract: A device for controlling a manipulator for handling a workpiece processed by a press brake. The press brake is equipped with a side sensor for detecting the horizontal X-axis direction positions parallel to the longitudinal direction of the upper and lower dies of the press brake. The manipulator is arranged to be movable in the X-axis direction and the head of the manipulator is arranged to be rotatable about first and second shafts of the manipulator. The device includes apparatus for inputting a position of the workpiece for an initial bending stage and apparatus for inputting an angle of rotation of the workpiece about the first and/or second shafts of the manipulator for each of a plurality of bending stages.

Abstract: The machine includes a U-shaped pincer (12) with a pair of arms (14, 16) which carry a V-sectioned linear punch (P) and a V-sectioned linear die (D) respectively. The punch (P) is fixed and the die (D) is movable. The U-shaped pincer (12) is mounted so that it can rotate both about a bending axis (V) coincident with the edge of the punch (P) and about a horizontal pivoting axis (O) which intersects the bending axis (V). A clamp (10) is adapted to grip an upper edge of a piece (W) of sheet metal so that a region thereof to be bent lies in a vertical suspension plane (B) lying between the arms (14, 16) of the U-shaped pincer (12) and containing the bending axis (V). The U-shaped pincer (12) and the clamp (10) are capable of relative movement both in a vertical direction (Z) and in a horizontal direction (X) perpendicular to the horizontal pivoting axis (O).

Abstract: A one-armed handling device having a single pick-up member designed to secure a metal sheet coplanar to a pick-up plane through the aforementioned pick-up member; which member is supported on a head so as to turn about two perpendicular axes by virtue of a first element designed to turn about a first axis perpendicular to the pick-up plane, and to which the pick-up member is secured directly, and a second element designed to turn about a second axis parallel with the pick-up plane and supporting the first element; the aforementioned head, in turn, being designed to travel along three cartesian axes, by means of an arm, with no variation in the position of the second axis (FIG. 1).

Abstract: A method whereby a pack of metal sheets adhering to one another is suspended on upper gripping elements of an upper vertically-mobile element beneath which is fed forward a lower transversely-mobile element having lower gripping elements. The upper and lower gripping elements are caused to interact in such a manner as to divide the pack into two parts by raising the upper element; and the lower element is backed up so as to feed on to a production line the part of the pack consisting of a single sheet, and/or to feed on to a reject bed the part of the pack consisting of a number of inseparable sheets.