Patent ID: 6185968
Filing Date: 2001-02-13
Classification: B21D

Abstract:
A bending device for bending an elongated work piece, the bending device comprising:a joint type robot having a remote tip end, a bending mechanism attached to the remote tip end of the joint type robot, the bending mechanism comprising a bending die, a clamping die, and a pressure die, the bending of the work piece is performed using the bending, clamping and pressure dies, and the joint type robot having at least three joints to facilitate moving the bending mechanism a desired distance along the work piece as well as facilitate rotation of the bending mechanism a desired angle relative to the work piece;movement control means for moving the bending mechanism of the joint type robot along the work piece, while rotating each of the joints along the work piece to change an attitude of the bending mechanism and maintaining a condition in which the work piece remains located between the bending, clamping and pressure dies, the movement control means comprising:reading means for reading coordinates of a middle point of the work piece when positioned between the bending, clamping and pressure dies;rotation means for rotating the bending mechanism around the coordinates of the middle point read by the reading means, thereby changing an attitude of the bending mechanism; androbot driving means for driving the joint type robot so as to move the bending mechanism while maintaining the work piece positioned between the bending, clamping and pressure dies.