EP1702691A1 - Machine for bending and drawing - Google Patents

Abstract

The bending machine, comprising a rigid base e.g. of cast iron with a bending shoe and at least one support (10) with a locking jaw (36), has the support mounted movably on an arm (3) with one end (4) pivoted to a turret head (6) so it can rotate about two orthogonal axes (Y, Z) relative to the base. The rotation of the arm is controlled by one electric motor/reduction gear unit on the arm itself and another one (8) fitted to the turret, and the position of the support is controlled by a slider (11) and a nut and screw (13) assembly located in a trough along the arm and driven by an electric motor (15) in the turret.

Description

The present invention relates to stretch bending machines.

• un bâti rigide adapté pour être solidarisé avec un sabot de cintrage,
• et au moins un dispositif de support adapté pour porter un mors de serrage pour tenir une pièce à cintrer en l'allongeant et en la plaquant progressivement contre le sabot de cintrage.

More particularly, the invention relates to a stretch bending machine comprising:

• a rigid frame adapted to be secured to a bending shoe,
• and at least one support device adapted to carry a clamping jaw for holding a workpiece by lengthening it and progressively pressing it against the bending shoe.

The document EP-A-1,230,996 discloses such a bending machine, wherein a turret is pivotally mounted about a vertical axis and slidable relative to the frame, while the support device is pivotally mounted on the turret about a horizontal axis.

This known machine has the disadvantage of being poorly adaptable to a wide variety of parts to be formed, due to the relatively limited freedom of movement of the support device which carries the clamping jaw.

The present invention is intended to overcome this disadvantage.

For this purpose, according to the invention, a bending machine of the kind in question is characterized in that said support device is mounted on an arm which extends in a longitudinal direction between first and second ends, the first end of said arm being pivotally mounted along the first and second axes of rotation relative to the frame, and said support device is movable along the arm in the longitudinal direction.

Thanks to these arrangements, the freedom of movement of the support member is considerably increased, so that the bending machine is adaptable. to more varied situations, in particular to bend more complex or longer pieces.

• la première extrémité du bras est montée pivotante autour du premier axe de rotation sur une tourelle qui est elle-même montée pivotante autour du deuxième axe de rotation sur le bâti ;
• la machine de cintrage comporte un premier motoréducteur électrique relié directement au bras pour commander le pivotement dudit bras par rapport à la tourelle et un deuxième motoréducteur électrique relié directement à la tourelle pour commander le pivotement de ladite tourelle par rapport au bâti ;
• le dispositif de support comporte un coulisseau qui est guidé en coulissement le long du bras et qui porte le mors de serrage ;
• la machine de cintrage comporte un ensemble vis-écrou entraîné par un moteur électrique pour commander un déplacement du coulisseau le long du bras ;
• le bras comporte une gouttière dans laquelle est logée une vis sans fin, le coulisseau portant un écrou qui est vissé sur la vis sans fin ;
• le coulisseau est relié au mors de serrage par une articulation libre permettant audit mors de serrage de pivoter librement par rapport au coulisseau autour de troisième et quatrième axes de rotation perpendiculaires à la direction longitudinale ;
• les troisième et quatrième axes de rotation sont perpendiculaires entre eux ;
• l'articulation comporte un premier organe de support relié au coulisseau (formé le cas échéant par une portion du coulisseau), un deuxième organe de support monté librement pivotant sur le premier organe de support autour du troisième axe de rotation, et un troisième organe de support monté librement pivotant sur le deuxième organe de support autour du quatrième axe de rotation ;
• le premier organe de support est monté pivotant sur le coulisseau autour d'un cinquième axe de rotation parallèle à ladite direction longitudinale ;
• le dispositif de support comporte un troisième motoréducteur électrique commandant le pivotement du premier organe de support autour du cinquième axe de rotation ;
• le troisième motoréducteur est décalé par rapport au cinquième axe de rotation et est relié par une transmission à un arbre creux monté pivotant sur le coulisseau, ledit arbre creux portant le premier organe de support et comprenant un passage traversant qui débouche de part et d'autre du coulisseau, le mors de serrage comportant un passage traversant qui débouche vers le passage traversant dudit arbre creux ;
• le premier organe de support comprend une fourche qui présente une base vers le coulisseau et deux branches qui s'étendent à l'opposé dudit coulisseau, le deuxième organe de support étant monté librement pivotant sur les branches de la fourche ;
• la base de la fourche présente un passage permettant une communication entre les passages traversants du mors de serrage et de l'arbre creux ;
• le deuxième organe de support comprend un cadre ouvert vers la base de la fourche et à l'opposé de ladite base, le troisième organe de support étant monté librement pivotant dans ledit cadre autour du quatrième axe de rotation ;
• le mors de serrage est commandé par un vérin traversant le cadre et disposé selon le quatrième axe de rotation ;
• le troisième organe de support présente un passage traversant dans lequel est logé le mors de serrage ;
• le mors de serrage comporte un carter emboîté dans le passage traversant du troisième organe de support, ledit carter présentant au moins un épaulement situé vers la base de la fourche, ledit épaulement étant en butée contre le troisième organe de support en direction opposée à ladite base de la fourche ;
• le dispositif de support comporte des moyens d'indexation pour mettre le mors de serrage dans une position prédéterminée entre deux opérations de cintrage ;
• le dispositif de support comporte un premier pignon solidaire du deuxième organe de support, ledit premier pignon étant en prise avec un deuxième pignon de plus grand diamètre qui porte un doigt d'indexation, et ledit doigt d'indexation étant disposé entre deux poussoirs commandés par des vérins adaptés pour déplacer les poussoirs l'un vers l'autre en mettant le doigt d'indexation dans une position prédéterminée ;
• le bâti porte un bras supplémentaire monté pivotant sur ledit bâti autour de deux axes de rotation, un dispositif de support supplémentaire monté mobile le long du bras et portant un mors de serrage supplémentaire.

In various embodiments of the invention, one or more of the following provisions may also be used:

• the first end of the arm is pivotally mounted about the first axis of rotation on a turret which is itself pivotally mounted about the second axis of rotation on the frame;
• the bending machine comprises a first electric gear motor connected directly to the arm to control the pivoting of said arm relative to the turret and a second electric gear motor connected directly to the turret for controlling the pivoting of said turret relative to the frame;
• the support device comprises a slider which is slidably guided along the arm and which carries the clamping jaw;
• the bending machine comprises a screw-nut assembly driven by an electric motor for controlling a movement of the slider along the arm;
• the arm comprises a gutter in which is housed a worm, the slide bearing a nut which is screwed on the worm;
• the slide is connected to the clamping jaw by a free articulation allowing said clamping jaw to pivot freely relative to the slide around third and fourth axes of rotation perpendicular to the longitudinal direction;
• the third and fourth axes of rotation are perpendicular to each other;
• the hinge comprises a first support member connected to the slider (formed where appropriate by a portion of the slider), a second support member mounted to pivot freely on the first support member around the third axis of rotation, and a third member support mounted freely pivoting on the second support member about the fourth axis of rotation;
• the first support member is pivotally mounted on the slider about a fifth axis of rotation parallel to said longitudinal direction;
• the support device comprises a third electric gear motor controlling the pivoting of the first support member about the fifth axis of rotation;
• the third geared motor is offset from the fifth axis of rotation and is connected by a transmission to a hollow shaft pivotally mounted on the slide, said hollow shaft carrying the first support member and comprising a through passage which opens on either side the slide, the clamping jaw having a through passage which opens to the through passage of said hollow shaft;
• the first support member comprises a fork which has a base towards the slider and two branches which extend opposite said slider, the second support member being mounted freely pivoting on the branches of the fork;
• the base of the fork has a passage allowing communication between the through passages of the clamping jaw and the hollow shaft;
• the second support member comprises a frame open towards the base of the fork and opposite said base, the third support member being freely pivotally mounted in said frame about the fourth axis of rotation;
• the clamping jaw is controlled by a jack passing through the frame and arranged along the fourth axis of rotation;
• the third support member has a through passage in which is housed the bit of Tightening ;
• the clamping jaw comprises a casing fitted in the through passage of the third support member, said casing having at least one shoulder located towards the base of the fork, said shoulder being in abutment against the third support member in a direction opposite to said base fork;
• the support device comprises indexing means for putting the clamping jaw in a predetermined position between two bending operations;
• the support device comprises a first pinion integral with the second support member, said first pinion being engaged with a second pinion of larger diameter which carries an indexing finger, and said indexing finger being disposed between two pushers controlled by jacks adapted to move the pushers towards each other by putting the indexing finger in a predetermined position;
• the frame carries an additional arm pivotally mounted on said frame about two axes of rotation, an additional support device mounted movably along the arm and carrying an additional clamping jaw.

Other features and advantages of the invention will become apparent from the following description of one of its embodiments, given by way of non-limiting example, with reference to the attached drawing.

• la figure 1 est une vue en perspective d'une machine de cintrage selon une forme de réalisation de l'invention, en position de repos,
• la figure 2 est une vue de détail en perspective d'un des bras de la machine de cintrage de la figure 1,
• la figure 3 est une vue de détail en perspective d'un dispositif de support monté coulissant sur le bras de la figure 3,
• la figure 4 est une vue éclatée du dispositif de support de la figure 3,
• la figure 5 est une vue en coupe transversale d'une partie du dispositif de support de la figure 4,
• la figure 6 est une vue de détail en perspective et écorchée d'une partie du dispositif de support de la figure 3,
• la figure 7 est une vue de détail en perspective montrant le dispositif de serrage amovible porté par le dispositif de support des figures 3 à 6,
• la figure 8 est un schéma bloc du dispositif de commande de la machine de cintrage de la figure 1,
• et la figure 9 est une vue similaire à la figure 1, montrant la machine de cintrage en cours d'utilisation.

On the drawings:

• FIG. 1 is a perspective view of a bending machine according to one embodiment of the invention, in the rest position,
• FIG. 2 is a detailed perspective view of one of the arms of the bending machine of FIG. 1,
• FIG. 3 is a detailed perspective view of a support device slidably mounted on the arm of FIG. 3;
• FIG. 4 is an exploded view of the device support of Figure 3,
• FIG. 5 is a cross-sectional view of a part of the support device of FIG. 4,
• FIG. 6 is a detail view in perspective and cut away of part of the support device of FIG. 3,
• FIG. 7 is a detailed perspective view showing the removable clamping device carried by the support device of FIGS. 3 to 6,
• FIG. 8 is a block diagram of the control device of the bending machine of FIG. 1,
• and Fig. 9 is a view similar to Fig. 1, showing the bending machine in use.

In the different figures, the same references designate identical or similar elements.

The bending machine shown in Figure 1 comprises a rigid metal frame 1 (made for example of cast iron), on which are mounted two robotic arms 2 and a rigid metal tool holder 3 (made for example of cast iron) disposed between both arms 2.

As shown in more detail in FIG. 2, each of the robotic arms 2 can be in the form of a rigid one-piece metal part (made for example of cast iron) which extends in a longitudinal direction L between a first end 4 relatively close to the other robotic arm and a second end 5 relatively remote from the other robotic arm.

The first end 4 is pivotally mounted on the frame 1 about two axes of rotation perpendicular to each other Y, Z. The first axis of rotation y is here a horizontal axis perpendicular to the longitudinal direction L and the second axis of rotation z is a vertical axis.

More particularly, the first end 4 of the robotic arm 2 can be rotatably mounted around the first axis of rotation Y on a metal turret 6, itself pivotally mounted about the second axis of rotation. Z rotation on a plate 7 fixed to the frame 1.

The arm 2 can be rotated by two electric motors. More particularly the first end 4 of the arm can be directly rotated about the Y axis by an electric geared motor 8 fixed to the turret 6 and said turret 6 can be directly rotated about the Z axis by an electric geared motor. 9 fixed under the plate 7. Direct drive means a rigid connection between the output of each gear motor and the element that it controls.

Furthermore, a support device 10 can be slidably mounted in the longitudinal direction L along the arm 2. This support device 10 comprises a slider 11 which can be slidably mounted for example on two parallel rails 12 secured to the arm 2 and extending in the longitudinal direction L, the slide 11 being driven in translation by means of a worm 13 'extending in the longitudinal direction L and rotatably mounted for example in a gutter 14 formed in the arms 2.

The worm 13 can be directly rotated by an electric motor 15 fixed to the first end 4 of the arm 2. The electric motor 15 can for example be arranged in a housing 16 formed at said first end 4 of the arm 2, so as not to hinder the rotational movement of the arm 2 around the Y axis.

• des guides 18 montés coulissants sur les rails 12 susmentionnés,
• et un écrou 19 dans lequel est glissée la vis sans fin 13.

As can be seen in more detail in FIG. 3, the slider 11 has a lower plate 17 under which are fixed:

• guides 18 slidably mounted on the rails 12 mentioned above,
• and a nut 19 in which is slid the worm 13.

Furthermore, in the example considered here, the slide 11 further comprises a front wall 20 which extends substantially 90 ° upwards (perpendicular to the longitudinal direction L) to from the front edge of the bottom plate 17, and two lateral wings 21 which connect the two opposite vertical side edges of the front wall 20 to the two corresponding lateral edges of the bottom plate 17.

On the front wall 20 is mounted a fork 22 forming a first support member, which can pivot relative to the slider 11 about an axis of rotation L1 parallel to the longitudinal direction L. The pivoting of the fork 22 around the L1 rotation axis is controlled by an electric geared motor 23 which extends towards the second end 5 of the arm 2, opposite the fork 22.

In the example considered here, as can be seen in FIGS. 3 to 6, the gearmotor 23 can be offset with respect to the axis of rotation L1. In this case, the gearmotor 23 rotates a first gear 24 rotatably mounted on the front wall 20 of the slider, the first gear 24 driving in rotation a second gear 25 which is rotatably mounted on said front wall 20 about the axis of L1 rotation.

The second pinion 25 may be integral with a hollow shaft 26, having a through-through passage 27 extending along the axis of rotation L1.

The fork 22, meanwhile, may comprise a base 28 parallel to the front wall 20 of the slide and two superposed branches 29 which extend towards the first end 4 of the arm. Advantageously, the base 28 of the fork is pierced with a central bore 30 which communicates with the passage 27 of the hollow shaft 26.

Between the two branches 29 of the fork 22 is further mounted a second support member 31 which may for example be in the form of a metal frame which freely journalled on the branches 29 of the fork about an axis of rotation T1 perpendicular to the axis of rotation L1 and disposed substantially vertically when the robotic arm 2 is in the rest position. The frame 31 delimits a hollow interior space 32 open towards the front (towards the first end 4 of the arm 2) and towards the rear (toward the base 28 of the fork 22) in which is mounted a third support member 33 formed by a metal drum extending between the two opposite side walls 34 of the frame which are parallel to the axis of rotation T1. The drum 33 freely pivots on the side walls 34, about an axis of rotation T2 perpendicular to the axes of rotation L1 and T1, and said drum has a generally cylindrical outer shape of revolution centered on the axis T2.

The drum 33 is recessed and has a through passage 35 extending from front to back, in which is housed an interchangeable clamping jaw 36.

As can be seen in more detail in FIG. 7, the clamping jaw 36 has a metal housing 37 which extends between a front end 38 and a rear end 39 facing the base 28 of the fork 22. L the rear end 39 of the casing 37 forms at least one shoulder which projects laterally, for example two lateral shoulders 40 pierced, for example each, with two holes 41.

The casing 37 has a section complementary to the section of the through passage 35 of the drum 33, so that the casing 37 can be placed in the drum 33 by the rear of said drum, the shoulders 40 then abut against the drum on either side of the through passage 35 (see Figure 6) and said shoulders 40 are then attached to the drum 33 by screws 42 passing through the holes 41 mentioned above. The interchangeable clamping jaw 36 can thus be fixed very securely in the roll 33 (in use, the clamping jaw 36 is pulled forward and is thus retained by its shoulders 40) and this fastening is very fast (to set up the clamping edge 36, it is sufficient to rotate the frame 31 to reveal the rear of the passage 35 on the side of the fork 22, then to fit the housing 38 in said passage 35 from behind and finally screw the screws 42).

As shown in FIGS. 5 and 7, the casing 37 itself has a through passage 43 which opens out towards the first end 4 of the arm 2 and towards the rear towards the base 28 of the fork , in correspondence with the through passage 27 of the hollow shaft 26 (see also Figure 6).

In the through passage 43 are mounted two jaws, for example a fixed jaw 44 and a movable jaw 45 which can slide in the passage 43 parallel to the axis T2. The jaws 44, 45 have opposite faces 44a, 45a provided with a profile which corresponds to the profile of the metal part to be bent, so that said part to be bent can be engaged between the jaws 44, 45 when they are in contact. open position, then clamped between said jaws.

In the example considered here, the movable jaw 45 is biased resiliently by springs 46 to the open position shown in FIGS. 5 and 7, and the said movable jaw 45 can be pushed towards the fixed jaw 44 by the push rod 47. a hydraulic cylinder 48 projecting laterally outwardly of the frame 31. The push rod 47 of the hydraulic cylinder 48 may advantageously be centered on the axis of rotation T2 and pass through an opening 49 itself centered on the axis T2 and arranged in one of the side walls 50 of the casing 37, opposite the lateral wall 34 of the frame 31.

The support device 10 may further be provided with means for resetting the clamping jaw 36 into a predetermined rest position after each bending operation, a rest position in which the through passage 43 of the clamping edge is aligned with the axis L1.

For this purpose, it is possible for example to provide, on the upper face of the upper branch 29 of the fork, a pinion 51 secured to the frame 31 and rotatably mounted around of the axis T1, this pinion 51 engaging with an additional pinion 52 of double diameter of the pinion 51, the pinion 52 having for example an indexing finger 53 which extends upwards and which is arranged between two pushers 54 can be moved towards each other for example by two pneumatic cylinders 55 of the same force. By actuating the two pneumatic cylinders 55, the indexing finger 53 is thus positioned in the median plane (L1, T1) of the fork 22, which guarantees a return to the rest position of the frame 31 by pivoting about the axis T1. Since the frame 31 can be pivoted by about plus or minus 90 ° from its rest position during use, the pinions 51, 52 make it possible to limit the angular movement of the indexing finger 53 to plus or minus 45.degree. relative to its rest position, so that the action of the pneumatic cylinders 55 always leads to a return of the indexing finger 53 to its rest position.

Furthermore, the return to the rest position of the drum 33, by pivoting about the axis T2, is obtained by means of a rotary pneumatic actuator 56 which is fixed on the frame 31 and whose output shaft 57 is fixed to the drum 33 (see Figure 5). By way of non-limiting example, a rotary actuator FESTO® reference DSM12-270-P can be used as actuator 56.

• les motoréducteurs 8 (respectivement M11 et M21),
• les motoréducteurs 9 (respectivement M12 et M22),
• les moteurs 15 (respectivement M13 et M23),
• les motoréducteurs 23 (respectivement M14 et M24),
• des électrovannes de commande des vérins hydrauliques 48 (respectivement EV11 et EV21),
• des électrovannes de commande des vérins pneumatiques 55 (respectivement EV12 et EV22),
• et des électrovannes de commande des actionneurs pneumatiques 56 (respectivement EV13 et EV23).

As schematically shown in FIG. 8, the bending machine which has just been described can be controlled by an electronic central unit 58 (CPU) such as a microprocessor or the like connected to a memory 59 (MEM) and to user interfaces such as for example a screen 60, a keyboard 61 or other. The electronic control unit 58 controls, for the two robotic arms 2:

• the geared motors 8 (respectively M11 and M21),
• the geared motors 9 (respectively M12 and M22),
• the motors 15 (respectively M13 and M23),
• the geared motors 23 (respectively M14 and M24),
• control solenoid valves of the hydraulic cylinders 48 (respectively EV11 and EV21),
• solenoid valves for controlling the pneumatic cylinders 55 (respectively EV12 and EV22),
• and solenoid valves for controlling pneumatic actuators 56 (respectively EV13 and EV23).

As shown in FIG. 9, when using the bending machine, the metal part 62 to be bent, for example a metal section, is clamped between the jaws of the clamping edges 36 of the two robotic arms 2, after having been put into place. place of a bending shoe 63, fixed on the tool holder 3.

The section 62 is then stretched so as to undergo a stretching for example of the order of 2 to 3%, so that the material of the section 62 is at the limit of plastic deformation. This traction is effected by the coordinated movement of robotic arms 2, slides 11 along these arms and forks 22.

The profile 62 is then progressively applied against the working face 64 of the bending shoe 63 while maintaining traction on the profile 62, so that the profile 62 takes the desired shape. During this movement, one can optionally twist the section 62 by pivoting the forks 22 of the two robotic arms around the axis L1, by means of the geared motor 23 of each arm.

It will be noted that during the bending operation, the clamping edges 36 are automatically aligned with the direction of traction at the ends of the profile 62, in view of the fact that the clamping edge 36 is freely pivotable around the axes T1, T2.

When the profile 62 is a hollow profile, it is possible to insert in said profile a filling mouse (not shown) preventing or limiting a deformation of the profile section. Such a mouse filling can easily be inserted into the profile 62 before bending, through the through passage 27 of the hollow shaft 26 and the recess 31 formed in the base 28 of the fork 22.

Note finally that the bending machine according to the invention may optionally comprise a single robotic arm 2, in which case the section 62 to be bent would be held at one of its ends by the clamping jaw 36 of the robotic arm and its other end by a fixed clamping mode, for example secured to the bending shoe 63.

• une grande souplesse d'utilisation permettant d'obtenir une large gamme de profilés ou autres pièces cintrées,
• une grande précision et une excellente répétabilité des opérations de cintrage,
• une grande rapidité, et un excellent rendement,
• une grande fiabilité,
• un prix de revient limité.

The bending machine just described has many advantages, including:

• a great flexibility of use to obtain a wide range of profiles or other curved parts,
• high precision and excellent repeatability of bending operations,
• great speed, and excellent performance,
• high reliability,
• a limited cost price.

Claims (21)

Bending machine with drawing comprising: a rigid frame (1) adapted to be secured to a bending shoe (63), - and at least one support device (10) adapted to carry a clamping jaw (36) for holding a workpiece (62) by lengthening it and progressively pressing it against the bending shoe (63), characterized in that said support device (10) is mounted on an arm (2) which extends in a longitudinal direction (L) between first and second ends (4, 5), the first end (4) of said arm being pivotally mounted along distinct first and second axes of rotation (Y, Z) relative to the frame (1), and said support device (10) is movable along the arm (2) in the longitudinal direction (L). Bending machine according to claim 1, wherein the first end (4) of the arm is pivotally mounted about the first axis of rotation (Y) on a turret (6) which is itself pivotally mounted about the second axis of rotation ( Z) on the frame (1). Bending machine according to claim 2, comprising a first electric gear motor (8) directly connected to the arm to control the pivoting of said arm (2) relative to the turret (6) and a second electric gear motor (8) directly connected to the turret (6) for controlling the pivoting of said turret (6) relative to the frame (1). Bending machine according to any of the preceding claims, wherein the support device (10) comprises a slider (11) which is slidably guided along the arm (2) and which carries the clamping jaw (36). Bending machine according to claim 4, comprising a screw-nut assembly (13, 19) driven by a electric motor (15) for controlling a movement of the slider (11) along the arm (2). Bending machine according to claim 1, wherein the arm (2) comprises a gutter (14) in which is housed a worm (13), the slide (11) carrying a nut (19) which is screwed on the screw endless (13). Bending machine according to any one of claims 4 to 6, wherein the slider (11) is connected to the clamping jaw (36) by a free articulation (22, 31, 33) allowing said clamping jaw (36) to pivot freely relative to the slider (11) around third and fourth axes of rotation (T1, T2) perpendicular to the longitudinal direction (L). Bending machine according to claim 7, wherein the third and fourth axes of rotation (T1, T2) are perpendicular to each other. Bending machine according to any one of claims 7 and 8, wherein the hinge comprises a first support member (22) connected to the slider (11), a second support member (31) mounted freely pivoting on the first member support member (22) about the third axis of rotation (T1), and a third support member (33) freely pivotally mounted on the second support member (31) about the fourth axis of rotation (T2). Bending machine according to claim 9, wherein the first support member (22) is pivotally mounted on the slider (11) about a fifth axis of rotation (L1) parallel to said longitudinal direction (L). Bending machine according to claim 10, wherein the support device (10) comprises a third electric gear motor (23) controlling the pivoting of the first support member (22) around the fifth axis of rotation (L1). Bending machine according to claim 11, wherein the third geared motor is offset from the fifth axis of rotation (L1) and is connected by a transmission (24, 25) to a hollow shaft (26) pivotally mounted on the slide (11). ), said hollow shaft (26) carrying the first support member (22) and comprising a through passage (27) which opens on either side of the slide, the clamping jaw (36) having a through passage (43) which opens to the through passage (27) of said hollow shaft. A bending machine as claimed in any one of claims 9 to 11, wherein the first support member (2) comprises a fork having a base (28) to the slider (11) and two legs (29) extending opposite said slider, the second support member (31) being mounted freely pivoting on the branches (29) of the fork. Bending machine according to claim 12 and claim 13, wherein the base (28) of the fork has a passage (30) allowing communication between the through passages (43, 27) of the clamping jaw and the hollow shaft . Bending machine according to any one of claims 13 and 14, wherein the second support member (31) comprises a frame open towards the base (28) of the fork and opposite said base, the third member of support (33) being freely pivotally mounted in said frame (31) about the fourth axis of rotation (T2). Bending machine according to claim 15, wherein the clamping jaw (36) is controlled by a jack (48) passing through the frame (31) and arranged along the fourth axis of rotation (T2). Bending machine according to any one of claims 13 to 16, wherein the third member support (33) has a through passage (35) in which is housed the clamping jaw (36). Bending machine according to claim 17, wherein the clamping jaw (37) comprises a casing (37) fitted into the through passage (35) of the third support member (33), said casing (37) having at least one shoulder (40) located towards the base (28) of the fork, said shoulder (40) abutting against the third support member (33) in the direction opposite to said base (28) of the fork. Bending machine according to any one of the preceding claims, wherein the support device (10) comprises indexing means (51-56) for putting the clamping jaw (36) in a predetermined position between two bending operations . Bending machine according to any one of claims 9 to 19, wherein the support device (10) comprises a first pinion (51) integral with the second support member (31), said first pinion (51) being engaged with a second pinion (52) of larger diameter which carries an indexing finger (53), and said indexing finger (53) being arranged between two pushers (54) controlled by jacks (55) adapted to move the pushers towards each other by putting the indexing finger (53) in a predetermined position. Bending machine according to any one of the preceding claims, wherein the frame (1) carries an additional arm (2) pivotally mounted on said frame about two axes of rotation (Y, Z), an additional support device (10). ) mounted movably along the arm and carrying an additional clamping jaw (36).

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