| 摘要 |
A bending centre has a bending cell (10), a charging device (12) with an insertion table for receiving a sheet metal part (14) to be inserted, and a manipulator (30) for gripping the sheet metal part, moving and rotating it. In order to improve the bending centre so that the sheet metal part can be handled with as few errors as possible in charging times as short as possible, the charging device has a sensor (66) for determining the position of the sheet metal part relatively to a defined entry position (16, 20 a to d) into the bending cell. The charging device has a control (38) which controls how the manipulator for handling the sheet metal part moves it in the first (X) and second (Y) directions and rotates it around the axis of rotation (D) depending on the position of the sheet metal part determined by the sensor, so that the manipulator introduces the sheet metal part into the bending cell in the precisely defined entry position. |
