DE102007024777A1 - Groove rolling device useful for groove rolling sheet components is more flexible than previous devices and the rolling process is quicker - Google Patents

Abstract

Groove rolling device for groove rolling sheet components (10) with at least one industrial robot (38) with a groove rolling head (11) on the robot arm, where the rolling head can be moved under control of the robot control. The device includes several grooved rolls and a sheet component support bed (36). During the rolling process the support bed can be moved, especially rotated. At least one robot is used in the different stages of the groove rolling process. An independent claimS are included for: (1) a method of groove rolling a sheet component involving two industrial robots (2) a groove rolling booth.

Description

The This invention relates to a roller hemming device, a roller hemming cell, a control device and a Rollfalzverfahren for Rollfalzen a sheet metal component according to the preambles of independent claims.

devices Roll-to-roll components of sheet metal are used in the automotive industry in the manufacture of vehicle components, especially attachments made of sheet metal, such as doors, hoods, tailgates and wheel arches, used.

A Rollfalzvorrichtung comprises a tool unit, which by means of a Controlled industrial robot is movable. The tool unit includes several roll-like tools and is referred to as Rollfalzkopf. The Rollfaltzen, which is also referred to as flanging, is a mechanical joining method in which a sheet edge of the Rollfalzkopf guided by the industrial robot in several steps is bent over. The Rollfalzen is also used to connect Sheet metal parts used.

The DE 100 11 854 A1 discloses an apparatus in which a Rollfalzkopf guided by an industrial robot produces a Blechfalzverbindung on a component. The Rollfalzkopf is in this case arranged on a robot arm of the industrial robot. The Rollfalzkopf has a folding roller, which is arranged displaceably in the radial direction by means of a carrier relative to the Rollfalzkopf. To move the carrier is supported on the carrier and the Rollfalzkopf spring. This spring is arranged tied up with a fixed bias in a spring cage, wherein the spring cage is supported on the one hand on the carrier, on the other hand on a support against the Rollfalzkopf load cell. The multi-stage seaming process has a pre-hemming process step in which the roller hemming head operates as a rigid system. At higher forces, in the next folding process step, the Fertigfalzschritt, the respective seaming roller can move against the force of the spring biasing him and in this way tolerances can be compensated. The DE 100 11 854 A1 further discloses a method for producing a sheet metal seaming connection by means of a roll folding head guided by an industrial robot, in which the roller folding head is guided along a programmed path according to the contour of the sheet to be folded.

The DE 10 2005 004 474 B3 discloses a crimping device for transferring a crimping web of a component about a crimping edge. The crimping device has a tool head, a first, designated as a flanging roll and a second, referred to as a flanged roll, the tool head which carries a flanged simultaneously befindlicher in working position and one of the other is arranged trailing in a working direction. In this case, the first crimping form is arranged transversely to the second crimping form. The component is mounted on a designated as flanging bed component holder and the tool head is controlled in space in all three coordinate directions movable, so that it is automatically positioned relative to the component and the course of the flanging following feasible.

task It is the object of the present invention to provide an apparatus and a method to roll-fold, which is more flexible and shorter Processing times.

The Task is according to the invention with the features of the independent claims.

The Rollfalzvorrichtung for Rollfalzen sheet metal components, has at least an industrial robot with a controlled movable, on his robotic arm arranged Rollfalzkopf with at least one folding roller and a Sheet metal support bed for receiving the sheet metal component on. The Rollfalzvorrichtung is characterized in that the sheet metal component bed during the Rollfalzprozesses movable, in particular rotatable, is, wherein the Rollfalzprozess has folding levels that of the at least be carried out an industrial robot. The sheet metal component bed is preferably integrated in a turntable and a hold-down function can be adjusted to the movement of the turntable. The relative Position of the sheet metal component bed and the blank holder is secured. The fact that the sheet metal component support bed is rotatable, the Sheet metal component always in a favorable angle directly be spent in front of the industrial robots. The robot arm with the Rollfalzkopf no longer has a fixed as in the prior art follow stored sheet metal component. This advantageously becomes a "stretching", what about vibrations and bad leverage on the Robot arm can lead, for example, to an opposite Side on sheet metal component to come, avoided. Also a hold-down, generally by a lifting device from above on the mating sheet metal components is placed, does not interfere Geometry for the travel more there.

A Rollfalzprozess with an industrial robot can then be made such that the at least one industrial robot performs a first folding stage and the sheet metal component is rotated under the Rollfalzkopf away, so that at another area of the sheet metal component, a further first folding stage is performed. This takes place until at all required areas, a first folding stage is executed. The sheet metal component may then be removed by rotating the sheet metal component bed with the area that having the first folding stage, be brought before the Rollfalzkopf the industrial robot. A second folding step of the Rollfalzprozesses can be performed, one after the other on all required areas of the sheet metal component. The process described above can be repeated until the sheet has finished folding. It is advantageous that the sheet metal component is moved in front of the industrial robot, and the industrial robot always works in a favorable angle and large discharges are avoided.

In a preferred embodiment of the Rollfalzvorrichtung the sheet metal component support bed is rotatable continuously or clocked. In a clocked turning is a motor, preferably in the Industrial robot is integrated and realizes the rotation, in discrete Steps controllable. These discrete steps can be advantageously variable, so that the speed of the Sheet metal support bed during the roll hemming process can be changed. This can be done with complex geometries the sheet metal part of advantage. In a continuous rotation the engine is turned on and rotates the sheet metal component bed continuously, preferably at a constant speed, wherein also provided a change in the speed of the engine can be.

In a further preferred embodiment of the Rollfalzvorrichtung is a second industrial robot with one on its robot arm arranged Rollfalzkopf provided, wherein the first and the second Industrial robot at the same time on different areas of the sheet metal component each perform a fold.

hereby can fold two stages of Rollfalzprozesses simultaneously be executed and in this way the required Bending angle realized on sheet metal component in a few rounds become. As an advantage, the times for the folding process shortened and thus the cycle times are rolling when rolling reduced by sheet metal components.

in the Difference to the prior art, in which the Rollfalzkopf the Performs folding on the sheet metal component by this of the zu following folding edge, allows the use of two industrial robots at the same time greater flexibility with regard to the geometry of the components to be folded. The Rollfalzköpfe can be adjustable, different have geometric relationships with each other. Thus, a multi-level Folding with reduced cycle times for components with geometric complex shape allows. The Rollfalzkopf the first Industrial robot may be different from that of the second industrial robot Be as the different folding levels on the two industrial robots can be distributed. That allows the use simpler and thus cheaper Rollfalzköpfe.

In a further preferred embodiment of the Rollfalzvorrichtung is the sheet metal component support bed of the robot controller of the industrial robot controlled movable, in particular rotatable. The sheet metal component support bed is preferred can be controlled as the seventh axis of the industrial robot. This can the robot controller controlling the roller hemming head can be used and it is not a separate control device for controlling the movement the sheet metal component bed required. An advantage of this is that is, the control of the roller hemming head and the sheet metal component bed can be synchronized.

In Another preferred embodiment is a sensor for determining a radial force of the seaming roller on the sheet edge provided the sheet metal component. With the designated as radial force sensor Sensor becomes the force acting radially on an axis of the seaming roller measured. This is beneficial because of the force acting on the sheet edge the sheet metal component works and the decisive size Rollfalzprozesses is measured directly. In the prior art However, known methods determine the force indirectly by measurement the distance of the seaming roller from the sheet edge, as the force proportional to the distance runs. This type of detection of the sheet edge acting force is vulnerable, in particular for disturbances, for example due to vibrations of the robot arm. That's why it's beneficial to use the power directly measure and analyze, a trajectory called trajectory for the seaming roller, which is guided by the industrial robot is to determine and optimize on the basis of the measured force data.

Prefers The radial sensor is designed so that it is characterized by its geometry suitable as an axis for the folding roller. Since the the folding roller receiving part of the robot arm, called the robot hand is detected during the Rollfalzprozesses can be detected the radial sensor preferably the forces of two 90 ° to each other twisted radially acting force directions.

In a further preferred embodiment of the Rollfalzvorrichtung the radial force of the seaming rollers of the Rollfalzkopfes is controlled controlled on the sheet edge of the sheet metal component that the force acting on the sheet edge, at each point of the sheet edge is equal or has a desired, preferably adjustable value. As a result, fluctuating distances between folding roller and sheet metal edge and fluctuating thicknesses of the sheet metal component can also be compensated. If sheet metal components deviate too much from a nominal value, the roller folding head can absorb the differences. The folding rollers of the Rollfalzkopfes practice one according to the radial force predetermined roller pressure on the component, wherein the roller pressure is controlled variable. For this purpose, each of the folding roller of the Rollfalzkopfes is pressed by suitable means with a variable pressure against the component. The advantage of this is that the Rollfalzkopf is no longer rigid, but preferably has a suitable suspension.

In Another preferred embodiment, the Rollfalzvorrichtung a suspension and / or a hydraulic device and / or a pneumatic device on, controlled by means of the roller pressure changeable is. Thus, the position of the folding rollers on Rollfalzkopf is not more rigid, as in the prior art, but can advantageously the Geometry of the sheet metal component to be adjusted.

The Task is further by a Rollfalzzelle with at least one Rollfalzvorrichtung invention solved, wherein the roll folding cell is constructed such that different Components in this can be machined without changeover times. The Rollfalzzelle in this case has an industrial robot for loading and Unloading the cell and the invention Rollfalzvorrichtung with the industrial robot with the Rollfalzkopf. As a result, the cycle times per component are reduced because no Changeover times between the machining of sheet metal components with different geometry are necessary. It can too be provided, the Rollfalzzelle with additional industrial robots, have the Rollfalzköpfe, equip. It can open Reason for the geometric nature of the components to be machined be required or in addition to the cycle times shorten.

The Task is further by a Rollfalzverfahren for generating a Folding connection on a sheet metal component by means of one of an industrial robot guided Rollfalzkopfes with at least one folding roller solved, wherein the method comprises the step the sheet metal component bed during a roll hemming process is rotated continuously or clocked, the industrial robot the folding stages during the Rollfalzprozesses performs. Thus, in several areas of the sheet metal part respectively Falzstufen be carried out in a row, wherein the Industrial robot by the rotation of the sheet metal component always in one favorable angle of attack can work directly in front of him.

In an embodiment of the method is a first folding stage of Rollfalzprozesses of a Rollfalzkopf attached to a robot arm attached to a first industrial robot and a second folding step of the roll folding process of a roll seam head, which is arranged on a robot arm of a second industrial robot is carried out. With the first industrial robot is the first folding step is carried out on the complete sheet-metal component, by the sheet metal component after each folding step, which is at one area was executed, is rotated, leaving a not yet folded Area is arranged in front of the industrial robot. With the second Industrial robots can then contact the areas where the first Fold stage was executed, the second fold stage executed become. This can simultaneously two fold levels on Sheet metal component to be executed. By using two Industrial robots at the same time on the component are advantageously shortens the process times of the roll creasing process on a component and thus reduces the cycle times per component.

In In a preferred embodiment, the first industrial robot leads a next, especially third, folding step of the Rollfalzprozesses out and the second industrial robot leads a second next, especially fourth, folding step. This is possible because the component after a rotation of the sheet metal component support bed again in its initial position, with the area where the second folding stage has been executed, is arranged in front of the first industrial robot. There are also two folding stages, the third and the fourth folding stage, processed at the same time.

In Another preferred embodiment of the method become so many fold stages are executed successively by the first and second industrial robots, until the folding process is completed and the sheet metal component finished Folded, being always two folding stages at different areas the sheet metal component are executed simultaneously and sheet metal component each rotated after a folding stage. The individual fold levels So hurry behind, the advantage being that the two simultaneously executed folding stages of different Industrial robots are running. Thereby can the Rollfalzköpfe be made simpler than those in the prior art, where several rollers are performing the individual folding stages must be arranged on a Rollfalzkopf.

In Another preferred embodiment of the method is the Sheet metal component support bed from a robot controller of industrial robot moved as the seventh axis, in particular rotated. It is not separate control for the rotation of the sheet metal component bed required. Furthermore, the rotation of the sheet metal component bed can and the Rollfalzkopfes be synchronized.

In a preferred embodiment of the method, a radial force of the seaming roller is determined and analyzed and from this a trajectory for the seaming roller during the Rollfalzprozesses is designed so that the force exerted by the folding roller on the sheet edge of the sheet metal component at all points is equal to the sheet edge or receives a desired, preferably adjustable value. The force exerted on the sheet metal edge force is determined directly and the traverse path of the folding roller is preferably calculated in a computer program and then transferred the determined trajectory to the robot controller that controls the industrial robot and performs the trajectory for the seaming roller.

in this connection may be the force that then has a specific roll pressure on the sheet edge be controlled. If sheet metal parts too much of a target value deviate, the Rollfalzkopf can catch the differences. It is also provided that set a different roller pressure can be different with different materials Strength and elasticity, for example different Steels or aluminum alloys, the sheet metal component one apply the same bending angle.

The Task is further by a control device for a Rollfalzvorrichtung invention solved, in a sheet metal component bed as the seventh axis of the robot controller the industrial robot controlled, in particular rotatable, is. The control of the sheet metal component bed is advantageous integrated into the robot control. This concerns the axes one to six the control of the folding rollers on Rollfalzkopf.

In a preferred embodiment of the control device for a Rollfalzvorrichtung is the trajectory of the seaming roller by means of a determined and analyzed radial force of the seaming roller controllable. The control device is preferably in the robot controller and the trajectory is transferred to the robot controller, wherein the trajectory from an external computer by means of the determined Force data of the folding roller calculated, preferably simulated. However, the calculation of the trajectory can also be done in the computer the robot control done.

following The invention will be more apparent from the figures of the drawing described that make up regardless of the summary in the claims further features, details and advantages of the invention.

It show in a schematic representation:

1 : a process step of a folding step during roll-folding with a roller-folding head;

2 a roller shutter device according to the invention with two industrial robots and a rotatable Blechbauteilaufbettbett obliquely from above;

3 : a Rollfalzvorrichtung invention in plan view;

4 : a Rollfalzvorrichtung invention from the front;

5 a roll folder during the process step of rotating the sheet metal component bed;

6 : a Rollfalzkopf with multiple folding rollers.

In 1 the process of roll creasing is shown schematically. A sheet metal part 10 is on a component support, not shown, which is referred to as Blechbauteilauflagebett or Rollfalzbett stored. A folding roller 12 a not shown Rollfalzkopf an industrial robot, of which in 1 only a robotic arm 14 is shown, presses with a force F on the sheet metal part 10 , This is illustrated by the arrow 16 a force component in the normal direction, and the arrow 18 a Umformkraftkomponente, the force which the folding roller on a sheet edge 30 exercises. This is also referred to as a radial force and is the force acting radially on an axis of the seaming roller.

The folding roller 12 is on the robot arm 14 rotatably mounted and thereby rotates about a rotation axis 20 , The cylindrical seaming roller 12 is under pressure application and with a certain angle adjustment along and in abutment against the sheet metal edge 30 of the sheet metal component to be folded 10 rollable for their assignment. This edge 30 is also referred to as a flanged edge or sheet edge. It is here by the arrow 22 dargstellte feed force along the sheet metal part 10 exercised. The railway tangent is with the arrow 24 bezeigt. The robot arm 14 has an angle of attack 26 with one by the arrow 28 illustrated adjustment direction.

In a folding process, the sheet edge 30 of the sheet metal component 10 folded, with the cylindrical seaming roller 12 under pressure with the angle of attack guided along the flanging edge in such a way that it is folded over in a first folding stage by a specific folding angle or flanging angle. This folding angle is in the example shown in FIG 90 °, wherein the folding angle can also have a different value. As a rule, it is less than 90 °. At the end of the first folding step is the edge 30 substantially parallel to a lying on the Rollfalzbett (not shown) sheet metal part 32 of the sheet metal component 10 bent.

The Rollfalzprozess is usually carried out in several stages in order to realize a desired folding angle, which is greater than a folded angle to be folded in a Falzstufe. In this respect, the one in the 1 shown angles only for purposes to understand the appearance of the forces occurring during folding of the process and does not correspond to a real folding angle in a folding stage.

If two sheet metal components are to be joined together, they are at least partially abutted against each other and together by the pressure exerted by the force of the seaming roller and the movement of the seaming roller 12 bent.

2 shows in an oblique view from above an embodiment according to the invention of a Rollfalzvorrichtung 34 with a sheet metal component bed 36 on which the sheet metal part 10 is stored, a first industrial robot 38 and a second industrial robot 40 and a hold-down 41 , Like parts are given the same reference numbers as in 1 provided and it gets to the description too 1 directed. The sheet metal component 10 can by means of the sheet metal component bed 36 between the first and second industrial robots 38 and 40 to be turned around. The first and the second industrial robot 38 . 40 each have a robotic arm 14 . 14 ' and a Rollfalzkopf 11 . 11 ' on. The robot arm 14 . 14 ' is preferably that of an articulated arm robot. The roller folding head 11 . 11 ' is controlled movable and has the rotatable folding rollers 12 . 12 ' on.

With the industrial robot 38 a first folding step, also referred to as a first folding step, is carried out. With the second industrial robot 40 a second folding step, referred to as a second folding step, is carried out when the sheet metal component support bed has been rotated until the area of the sheet metal component that has already been folded with the first folding step reaches into the accessible area of the industrial robot 40 is turned. The respective Rollfalzköpfe 11 and 11 ' the industrial robot 38 and 40 can in this case in the favorable for the respective folding angle 26 relative to the sheet metal component 10 , or to the angle required by the sheet metal component edge to be bent work. The sheet metal component 10 remains on the sheet metal component bed 36 and will be between the industrial robots 38 and 40 turned. The rotation can be continuous or clocked, that is, in small, preferably adjustable steps. Depending on the size of the sheet metal component 10 This can also at least partially below the industrial robot 38 and 40 be stored.

3 shows an embodiment of the Rollfalzvorrichtung 34 with two industrial robots 38 and 40 from above. Like parts are denoted by the same reference numerals as in the 1 and 2 and it will be on the description of the 1 and 2 directed. The direction of rotation of the sheet metal component bed 36 is with the arrow 42 designated. The industrial robots 38 and 40 are on opposite sides of the sheet metal component 10 arranged, wherein also another arrangement is conceivable. In the 3 shown illustration of Rollfalzvorrichtung shows for reasons of clarity no hold-down.

The roll creasing process is as follows: the left industrial robot 38 begins with the first folding step, in the following as folding step 1 indicates, on, the table with the sheet metal component bed 36 is rotated, preferably as the seventh axis of the industrial robot 38 or the industrial robot 40 , This happens as long as the sheet metal component 10 with an area where the fold level 1 has been carried out in the effective range of industrial robots 40 comes. Once the already pre-tilted, bent sheet metal component 10 in the effective range of the second industrial robot 40 has arrived, this begins with the second folding stage, referred to as folding stage 2 , Consequently, the fold level 1 and the folding step 2 edited at the same time.

Are all areas of the sheet metal component with the folding step 1 and the folding step 2 provided, leads the industrial robot 38 folding stage 3 out. Once areas with executed rebate 3 into the effective range of the industrial robot 40 come, this begins with folding step 4 , etc. The process is continued until all desired areas on the sheet metal component have experienced the desired degree of folding. Here, the degree of folding could experience a folding angle of 180 °, but also a larger folding angle is optionally bendable. The individual folding stages hurry behind each other during the entire folding process.

4 shows an arrangement with two industrial robots 38 and 40 from the front. The same parts are denoted by the same reference numerals as in FIGS 1 . 2 and 3 provided and reference is made to the description of these figures. The two industrial robots 38 and 40 are on opposite sides of the sheet metal component 10 arranged. The direction of rotation of the sheet metal component bed 36 is with the rotary arrow 42 clarified. The sheet metal component bed 36 is between the industrial robots 38 and 40 arranged.

In 5 is a roller hemming device 34 in a side view during the process step of rotating the sheet metal component 10 shown. In the foreground is the first industrial robot 38 to recognize and in the background the second industrial robot 40 , The sheet metal component bed 36 is rotated and thus the sheet metal component 10 , The rotation is the seventh axis of the robot control of one of the industrial robots 38 . 40 controlled movable.

In 6 is an example of a Rollfalzkopf 44 shown. This Rollfalzkopf 44 has five different roles 46 . 48 . 50 and 52 on. The roles 46 . 48 . 50 and 52 come to the ver different folding stages used because different shaped roles must be used for the different folding levels. At the junction 54 becomes the roller hemming head 44 flanged to the robot arm.

In contrast to the roller hemming head used in the prior art, the roller shutter head is 11 . 11 ' or 44 the for the Rollfalzvorrichtung 34 is used in a simpler structure, that is equipped with fewer folding rollers, since the distribution of the folding levels on two industrial robots not all roll types must be placed on a Rollfalzkopf. The Rollfalzkopf can have only half of the functionalities especially in two industrial robots. The roller folding head 11 . 11 ' 44 can also work with two or three roles 12 . 12 ' get along and is thus simpler. Its programming is also simpler, since fewer geometries interfere with the turning of the roller seaming head.

The roller folding device further comprises at least one radial sensor, not shown in the figures, for measuring the radial force of the at least one folding roller 11 . 11 ' . 46 . 48 . 50 . 52 on, wherein the force acting radially on the axis of the seaming roller is determined. This determined force is analyzed by means of a computer program and the trajectory of the folding roller designed so that the force on the sheet edge 30 is the same everywhere or receives a desired, preferably adjustable value. The radial force sensor is due to its geometry as an axis for the folding rollers 11 . 11 ' . 46 . 48 . 50 . 52 , In this case, the radial sensor measures and detects the forces from two radial directions of force acting radially through 90 ° to each other.

The Rollfalzverfahren invention includes that the sheet metal component bed 36 is rotated during the Rollfalzprozesses, wherein the folding stages are performed by at least one industrial robot. Here, the Rollfalzvorrichtung 34 an industrial robot 38 but preferably has two industrial robots 38 and 40 on. If the device has only one industrial robot, the roll folding process takes place as follows: The sheet metal component 10 is rotated continuously or clocked during the folding process, the industrial robot 38 can on adjacent areas of the sheet metal part 10 successively the fold 1 To run. Once the component has undergone a complete 360 ° turn, it is back in its original position in front of the industrial robot 38 , This can be done with the folding step 2 Continue. After another complete rotation of the component 10 the next folding step is carried out, and so on, until the sheet is finished folded.

Indicates the roller folder 34 Two industrial robots can work with the first industrial robot 38 on the complete sheet metal component the folding step 1 be carried out, the second industrial robot 40 performs folding step 2 by. The method may also be such that in areas the first folding stage of the first industrial robot 38 is performed, and at the same time in other areas of the sheet metal component, the second folding stage is processed. Upon further rotation of the sheet metal component leads the first industrial robot 38 then the fold 3 and the second industrial robot 40 hurries with the fold 4 after. These folding stages are carried out until the folding process is completed when the sheet is finished folded.

10

sheet metal component

11

seaming roll

11 '

seaming roll

12

The roller folding

12 '

The roller folding

14

robot arm

14 '

robot arm

16

arrow the force in the normal direction

18

arrow the forming force

20

axis of rotation the Rollfalzkopfes

22

feed force

24

Arrow, which shows the direction of adjustment

26

angle of attack

28

Arrow, which indicates the railway tangent

30

edge of the sheet metal component, sheet metal edge

32

page of the sheet metal component

34

Rollfalzvorrichtung

36

Sheet metal component support bed or Rollfalzbett

38

first industrial robots

40

second industrial robots

41

Stripper plate

42

direction of rotation of the component support bed

44

The roller folding

46

first seaming roll

48

second seaming roll

50

third seaming roll

52

fourth seaming roll

54

junction to the robot arm

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• DE 10011854 A1 [0004, 0004]
• - DE 102005004474 B3 [0005]

Claims (17)

Rollfalzvorrichtung for Rollfalzen of sheet metal components ( 10 ), comprising: at least one industrial robot ( 38 ) with a robot control controlled by a robot, on its robot arm ( 14 ) arranged Rollfalzkopf ( 11 ) with at least one folding roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) and a sheet metal component bed ( 36 ) for receiving the sheet metal component ( 10 ), characterized in that the sheet metal component support bed ( 36 ) is movable during the Rollfalzprozesses, in particular rotatable, wherein the Rollfalzprozess folding stages, of the at least one industrial robot ( 38 ) be performed. Rollfalzvorrichtung according to claim 1, characterized in that the Blechbauteilauflagebett ( 36 ) is rotatable continuously or clocked. Rollfalzvorrichtung according to claim 1 or 2, characterized in that a second industrial robot ( 40 ) with one on his robotic arm ( 14 ' ) arranged Rollfalzkopf ( 11 ' ), wherein the first and the second industrial robot ( 38 . 40 ) at different areas of the sheet metal component ( 10 ) each perform a folding step. Rollfalzvorrichtung according to any one of the preceding claims, characterized in that the Blechbauteilauflagebett ( 36 ) from the robot controller of the industrial robot ( 38 . 40 ) is controlled movable, in particular rotatable, is. A roller hemming device according to claim 4, characterized in that the sheet metal component receiving bed ( 36 ) as the seventh axis of the industrial robot ( 38 . 40 ) can be controlled by the robot controller. Rollfalzvorrichtung according to any one of the preceding claims, characterized in that a sensor for determining a radial force of the folding roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) on the sheet edge ( 30 ) of the sheet metal component ( 10 ) is provided. Rollfalzvorrichtung according to any one of the preceding claims, characterized in that the radial force of the folding rollers ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) of the Rollfalzkopfes ( 11 . 11 ' . 44 ) on the sheet edge ( 30 ) of the sheet metal component ( 10 ) controlled in such a way that the force acting on the sheet edge ( 30 ), at each point of the sheet edge ( 30 ) is the same or has a desired, preferably adjustable value. Rollfalzvorrichtung according to claim 7, characterized in that the Rollfalzkopf ( 11 . 11 ' . 44 ) has a suspension and / or a hydraulic device and / or a pneumatic device by means of which the force is controlled variable. Rollfalzzelle with at least one Rollfalzvorrichtung ( 34 ) according to one of claims 1 to 8, wherein the Rollfalzzelle is constructed such that different sheet metal components are machinable in this without changeover. Rollfalzverfahren for producing a rabbet joint on a sheet metal component ( 10 ) by means of one of an industrial robot ( 38 ) guided Rollfalzkopfes ( 11 ) with at least one folding roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ), characterized in that the sheet metal component support bed ( 36 ) is rotated continuously or clocked during a Rollfalzprozesses, wherein the industrial robot ( 38 ) performs the folding stages. A method according to claim 10, characterized in that a first folding step of the Rollfalzprozesses of a Rollfalzkopf ( 11 . 44 ) attached to a robotic arm ( 14 ) of a first industrial robot ( 38 ) is performed, and a second folding stage of the Rollfalzprozesses of a Rollfalzkopf ( 11 ' . 44 ) attached to a robotic arm ( 14 ' ) of a second industrial robot ( 40 ) is performed. Method according to claim 10, characterized in that the first industrial robot ( 38 ) performs a next, in particular third, folding step of the Rollfalzprozesses and the second industrial robot ( 40 ) performs an after next, especially fourth, folding stage. A method according to claim 12, characterized in that as many folding stages successively from the first and the second industrial robot ( 38 . 40 ) are executed, with always two fold levels at different areas of the sheet metal component ( 10 ) are carried out simultaneously and the sheet metal component ( 10 ) is rotated until the folding process is completed and the sheet metal component ( 10 ) is folded. Method according to one of claims 10 to 13, characterized in that the sheet metal component support bed ( 36 ) from a robot controller of the industrial robot ( 38 . 40 ) is moved as its seventh axis controlled, in particular rotated, is. Method according to one of claims 11 to 14, characterized in that a radial force of the folding roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) is determined and analyzed, and from this a trajectory for the seaming roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) is designed during the Rollfalzprozesses that the force that the folding roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) on the sheet edge ( 30 ) of the sheet metal component ( 10 ) exerts at all points on the sheet edge ( 30 ) is the same or receives a desired, preferably adjustable value. A roller shutter folding apparatus according to any one of claims 1 to 8, wherein a sheet metal component supporting bed (14) 36 ) of the roller folder ( 34 ) controlled as a seventh axis of a robot control, in particular rotatable, is. Control device for a roller hemming device according to one of claims 1 to 8, wherein the travel path of the seaming roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) by means of a determined and analyzed radial force of the seaming roller ( 12 . 12 ' . 46 . 48 . 50 . 52 . 54 . 56 ) is controllable.