| 摘要 |
The invention relates to a manipulation device (3) for manipulating a workpiece (4) on a bending press (2), comprising multiple successive moving elements (17), in particular articulated arms (18), connected to one another via articulated joints (19), wherein one moving element (22) has a rotary head (23) which is rotatable about a rotational axis (24) which at least approximately coincides with a center axis (25) of the moving element (22), and comprising a gripping device (27) connected thereto having a gripping zone (34), formed by one or more gripping elements (32), by means of which the workpiece (4) may be held. According to the invention, the gripping device (27) is connected to the rotary head (23) via a boom element (26), by means of which a midpoint (35) of the gripping zone (34) is situated at a distance (36) from the rotational axis (24), and by means of an adjustment device (40) on the boom element (26) the position and/or angular orientation of the gripping device (27) and the gripping zone (34) with respect to the boom element (26) may be adjusted in at least two different working positions. |
