DE102009042877A1 - Device for folding body part edge e.g. sheet metal shaped part within region of window cutout of vehicle door, has folding jaw arranged at robotic arm movable by arm and subjected with folding force - Google Patents

Abstract

The device has a folding bed for receiving a body part (10) to be processed, and a folding jaw designed, so as to cause pre-folding and/or folding of a folding section (12). The folding jaw is arranged at an arm of a robot movable by the arm and subjected with a folding force. The folding jaw exhibits two shaping sections, where one of the shaping sections is provided for pre-folding and the other shaping section is provided for folding. An axial length of a shaping section amounts to approximately 300 mm, where the shaping sections exhibit a straight axial longitudinal extension. An independent claim is also included for a method for folding a body partial edge.

Description

The invention relates to a device and a method for folding a body part edge, and a preferred use of this device and / or this method, namely for producing a vehicle door.

In the manufacture of body parts from a sheet material, it is sometimes intended to wrap the body part edge at least in sections and in this case form a so-called fold. The folding or folding is used for. As to increase the rigidity of the sheet material, especially in thin sheets, or to form rounded edges, to reduce the risk of injury to the otherwise sharp sheet edge or to allow the safe placement of a sealing rubber (or the like). In addition, the folding can also be used for joining, including the edge of a first body part turned over and held in the forming folding pocket the edge of another body part. Often, this is done with additional introduction of adhesive, sealant and / or corrosion inhibitors.

For folding a body part edge, various possibilities are known from the prior art. In the DE 10 2005 004 602 A1 is a Rollbördelvorrichtung or Rollfalzvorrichtung described. The Rollbördeln has the disadvantage of long cycle times, which is, inter alia, that usually several roll operations are required to obtain a high folding quality. Another disadvantage is the often poor accessibility of the bulky roller carrier to be folded to the body part edge. In the DE 100 16 391 A1 is described a movably guided Falzzange, which is very bulky and thus also allows only limited accessibility. Furthermore, folding tools or crimping tools are known in various designs, including acting on the DE 10 2006 021 876 A1 is referenced. Such crimping tools are very expensive and therefore can be used economically only in high quantities (see also the introductory part of DE 10 2005 004 602 A1 ).

An object of the invention is to provide a cost effective way to fold body part edges with short cycle times.

The object is achieved by a device according to claim 1. The object is further achieved by a method according to a non-independent claim. Preferred and advantageous developments are the subject of the respective dependent claims. The solution of the problem also extends to a folding jaw according to another independent claim. The solution of the problem also extends to a preferred use according to another independent claim.

• – ein Falzbett zur Aufnahme des zu bearbeitenden Karosserieteils;
• – ggf. (wenigstens) einen im Bereich des Karosserieteilrandes auf das Karosserieteil aufsetzbaren Niederhalter zum Fixieren des Karosserieteils im Falzbett während des Falzvorgangs;
• – (wenigstens) eine Falzbacke mit wenigstens einem Formungsabschnitt, der dazu ausgebildet ist, ein Vorfalzen und/oder Fertigfalzen des (wenigstens einen) Falzabschnitts herbeizuführen;
• – (wenigstens) einen Roboter an dessen Roboterarm die Falzbacke angeordnet ist und mittels dem die Falzbacke bewegbar und mit einer Falzkraft beaufschlagbar ist.

The device according to the invention serves for folding a body part edge. On the body part edge at least one pre-folded beveling section is provided. This is to be understood that the seaming section to be folded has already been angled or erected in a preceding production step with respect to the adjacent bodywork part plane and, for example, assumes an angle of 90 ° ± 10 ° with respect to the bodywork part plane. The device according to the invention comprises:

• - A folding bed for receiving the body part to be machined;
• - If necessary (at least) one in the region of the body part edge on the body part placed down device for fixing the body part in the rebate during the folding process;
• - (at least) a folding jaw having at least one forming section adapted to cause pre-folding and / or finish folding of the (at least one) folding section;
• - (At least) a robot on the robot arm, the folding jaw is arranged and by means of which the folding jaw is movable and acted upon by a folding force.

A body part is a sheet metal part or a joint assembly with at least one such sheet metal part, wherein the body part edge is an edge of the sheet metal part. A body part is z. B. a vehicle door or even the outer skin of a vehicle door as explained below in connection with a preferred use even closer.

A robot is preferably an ordinary multi-axis industrial robot. For attachment of the folding jaw on the robot arm, a mounting flange is preferably provided.

Under pre-folds is understood that the relevant over a longitudinal portion of the body part edge extending and already folded fold section is tilted in the folding direction or folded over by a defined angle. The folding angle is increased. Under Fertigfalzen is understood that the same folding section completely transferred to a folding angle of 180 ° and in particular the thus formed fold is also pressed or pressed. The pre-folding and Fertigfalzen can be done in several steps or in one step. The counterforce required for pre-folding and / or Fertigfalzen is essentially caused by the folding bed.

The fold width, which means the width of the fold section to be folded, is between 5 mm and 30 mm, preferably between 10 mm and 25 mm and in particular between 15 mm and 20 mm. This corresponds approximately to the height of the introduced in advance in the body part edge bevel. The seam width may also vary along a length of the body panel edge. The minimum folding radius is 1 mm and preferably 1.5 mm.

It is preferably provided that the folding pocket formed by folding the folding section is used for fastening another component, such as in particular a sheet-metal shaped part. For this purpose, the component to be fastened is positioned correspondingly on the body part before the fold section is folded over.

According to the invention, it is provided that the respective folding section extending over a longitudinal section of the body part edge is prefolded and / or fully folded simultaneously or in one by means of the folding jaw. As a result, a high folding quality and a very good dimensional stability is achieved in a short cycle time.

Further advantages of the invention can be seen in the fact that the device according to the invention is relatively inexpensive, in particular in comparison to a Rollbördelvorrichtung, and that the folding jaw is less bulky and thus has better accessibility.

According to a preferred embodiment, it is provided that the shaping section is formed on the folding jaw in such a way as to bring about the pre-folding and / or finished folding by a substantially vertical movement of the folding jaw. The vertical movement refers to the body part plane adjacent to the folding section, wherein a vertical direction with respect to this plane corresponds approximately to a surface normal. Preferably, it is provided that the folding jaw comes into contact with the folding section in a substantially vertical movement and in this case is applied to the folding section or placed on it and by a substantially continuous continuation of this vertical movement the required folding force is applied, which then Pre-folding or Fertigfalzen leads.

According to a preferred embodiment, it is provided that the folding jaw has two shaping sections, wherein the first shaping section is provided for pre-folding and the second shaping section for Fertigfalzen and formed accordingly. Preferably, the two molding sections are adjacent and substantially parallel, d. H. arranged with uniform spacing to each other.

According to a preferred development, it is provided that a shaping section essentially has a straight axial longitudinal extent. This means that a respective folding section extending over a longitudinal section of the body part edge also has a substantially straight, ie. H. not curved, course must have.

According to a preferred development, it is provided that the axial length of a shaping section is between 100 mm and 500 mm, preferably between 200 mm and 400 mm and in particular approximately 300 mm. The length of the molding section is largely based on the design specifications for the seam to be produced. Since the axial length of the shaping section corresponds to the length of the folding jaw, however, a limitation is given due to the accessibility to be ensured. Further, since the axial length of the forming portion corresponds to the folding force to be applied, there is also a limitation due to the available maximum robot force. Possibly. It may be necessary to make the shaping section and thus also the folding jaw shorter in relation to the length of the seam to be produced. The folding jaw would then be placed several times offset along the relevant length section of the body part edge to the folding section or put on this, to bring about a partial folding of the folding section.

According to a preferred embodiment, it is provided that corresponding guide elements are provided on the folding jaw and on the folding bed, which during the folding operation, d. H. during pre-folding and / or during ready-folding, the folding jaw defined leads to the folding bed. It is preferably provided that the guide elements are brought into guiding engagement immediately before the folding process. The guide serves to ensure during the folding operation a defined relative movement and preferably a vertical movement of the folding jaw (as explained above) to the folding bed and thereby to absorb the softness of the robot.

According to a preferred embodiment, it is provided that the guide elements are interlocking tongue and groove elements, as explained in more detail below in connection with the figures. Preferably, it is further provided that these are self-lubricating guide elements.

According to a preferred embodiment, it is provided that (at least) a feather key is arranged on the folding jaw and that (at least) a guide strip with at least one keyway corresponding to the keyway is arranged on the folding bed, in which engage the feather key can. This will be explained in more detail below in connection with the figures.

• – Auflegen des zu bearbeitenden Karosserieteils auf ein Falzbett, was bevorzugt automatisiert erfolgt und wobei der bereits abgekantete Falzabschnitt bevorzugt nach oben und vom Falzbett weggerichtet ist;
• – ggf. Festhalten bzw. Fixieren des Karosserieteils mittels eines aufsetzbaren Niederhalters;
• – Vorfalzen und/oder Fertigfalzen des (wenigstens einen) Falzabschnitts mittels einer Falzbacke die hierfür wenigstens einen Formungsabschnitt aufweist, wozu die Falzbacke an einem Roboterarm eines Roboters angeordnet ist, der die Falzbacke bewegt und der die erforderliche Falzkraft aufbringt.

The inventive method is used for folding a body part edge, in particular with a device according to the preceding embodiments, wherein on the body part edge at least one pre-folded beveling section (as explained above) is provided. The method comprises at least the following steps:

• - placing the body part to be processed on a folding bed, which is preferably carried out automatically and wherein the already folded folded portion is preferably directed upward and away from the folding bed;
• - If necessary, holding or fixing the body part by means of an attachable hold-down;
• - Pre-folding and / or Fertigfalzen the (at least one) folding section by means of a folding jaw this has at least one forming section, including the folding jaw is arranged on a robot arm of a robot, which moves the folding jaw and applying the required folding force.

It is preferably provided that the inventive method is fully automated or at least partially automated. A significant advantage of the method according to the invention can be seen in a simple programming of the robot, in particular when the folding jaw is moved substantially vertically during the folding operation, as explained above.

According to a preferred embodiment, it is provided that the folding jaw is first brought into contact with the folding section for a first time, wherein a first forming section brings about a pre-folding of the relevant folding section, after which the folding jaw is lifted and moved and then brought into contact a second time with the same folding section is, in which case a second shaping section causes a Fertigfalzen the respective folding section. This will be explained in more detail below in connection with the figures.

Preferably, it is provided that the folding jaw is moved horizontally for pre-folding and Fertigfalzen and horizontally during the intermediate process. A horizontal direction of movement extends essentially at right angles to the vertical direction of movement (as explained above) and thus substantially parallel to the body part plane adjacent to the folding section.

According to a preferred embodiment, it is provided that the folding jaw is guided both during pre-folding and during Fertigfalzen relative to the folding bed, including provided on the folding jaw and the folding bed corresponding guide elements are included, which are respectively brought into guiding engagement. This will be explained in more detail below in connection with the figures.

According to a preferred embodiment, it is provided that a plurality of fold sections are present on the body part edge, which are folded by the folding jaw, wherein the folding jaw is moved by means of the robot from folding section to folding section. The individual fold sections may be spaced apart from one another and / or also formed in a continuous manner.

For the invention applies that device features are mutatis mutandis process features and vice versa.

The invention also extends to a folding jaw for use in a device according to the invention and / or for use in a method according to the invention according to the preceding embodiments.

It is preferably provided that the device according to the invention and / or the method according to the invention is used for folding at least one folding section in the region of a window section of a vehicle door. The invention thus preferably serves for producing a vehicle door. In this case, it is preferably provided that the folding also likewise serves to fasten at least one door inner part (eg a side impact beam or a window shaft with window guide rails) on the inside of the door outer skin. The outer door skin is preferably formed from a steel sheet material.

In the prior art, the folding in the region of a window cutout proves to be problematic because of poor accessibility, especially when in the area of the window cutouts, a Eckfensterteilungsstrebe is also provided. The problems of poor accessibility are solved outstandingly inexpensively with the device according to the invention and / or the method according to the invention.

The invention will be explained in more detail by way of example with reference to the figures. Show it:

1 the folding on a body part edge in two schematic views;

2 a device according to the invention for folding a body part edge in a schematic sectional view and with a perspective individual representation of the folding jaw; and

3 several fold sections on a vehicle door in a schematic plan view of the inside.

1 shows the formation of a fold on a body part 10 , which is exemplified by a sheet metal part. The body part 10 has a circumferential body part edge 11 on. The body part edge 11 has a to be folded edge portion or folding section 12 on, being at the periphery of the body part 10 also several such fold sections can be provided. The fold section 12 is already folded before beginning folding operation, ie, with respect to the adjacent body part level, for example, angled by about 90 °, as in the 1a shown. During the folding process, or when folding, the folding section 12 Completely folded and has hereafter an absolute folding angle of 180 °, as in the 1b shown. The fully folded folding section 12 forms a fold with an enclosed fold pocket. The fold section 12 has a fold length l, wherein this fold length l over a longitudinal portion of the body part edge 10 extends, and a rebate width b, as in the 1b specified.

2a shows a device according to the invention 100 in a schematic sectional view. To the device 100 heard a folding bed 110 on which the body part 10 applied and by means of (at least) an attachable hold-down 120 arrested or fixed. The folding bed 110 is preferably designed as a cast construction. To the device 100 further includes a folding jaw 130 , which by means of a mounting flange 140 on a robot arm 150 is attached or flanged. The device 100 further comprises mutually corresponding guide elements 160 and 170 for the folding jaw 130 , The guide elements 160 and 170 are exemplified as interlocking tongue and groove elements, as explained in more detail below. The guide elements 160 and 170 can also be arranged reversed.

The folding jaw 130 has a first shaping section 131 and a second molding section 132 for folding the fold section 12 on, as explained in more detail below. Both shaping sections 131 and 132 are approximately concave. The particular averaged concave radius of the first shaping section is z. B. about 25 mm. 2 B shows the folding jaw 130 in a perspective view, from which is very well to recognize their approximately cuboidal training, the width with p, the length with q and the height is designated by h. The folding jaw 130 is very compact overall and in particular has a relatively small height h. According to a preferred embodiment, the length q is about 300 mm, the width p about 80 mm and the height h about 20 mm.

The shaping sections 131 and 132 preferably extend over the entire length q of the folding jaw 130 and have a substantially straight axial length. It is preferably provided that the length q of the folding jaw 130 and thus the axial length of the shaping sections 131 and 132 in about the length l of the folding section 12 (please refer 1b ) corresponds. The folding jaw 130 is made of a solid material, such. As a tool steel produced. The folding jaw 130 can in the area of the molding sections 131 and or 132 partially hardened. It is also possible, the shaping sections 131 and or 132 to provide interchangeable inserts.

Subsequently, the folding process based on the 2a explains: At the beginning, the body part 10 such on the folding bed 110 put on that the folded folded section 12 upwards and from the folding bed 110 is directed away. The body part 10 is by means of the hold-down 120 on the folding bed 110 fixed. Subsequently, the folding of the folding section takes place 12 by means of the folding jaw 130 , The sequence of movements of the folding jaw 130 this is indicated by movement arrows I to VI. In the first two steps of movement I and II is the folding jaw 130 by means of the robot arm 150 brought into the position shown, so that the first shaping section 131 approximately perpendicular above the fold section 12 located. From this position, the folding jaw 130 in a movement step III substantially vertically (as explained above) or moved vertically downwards, wherein the first shaping section 131 the fold section 12 evenly folded over a defined angle over the fold length, so that this assumes the position Z shown in dashed lines. This process is called pre-folding. In this intermediate position Z takes the folding section 12 z. B. an angle of 45 ° to the adjacent body parts levels.

During the movement step III engages formed as a key spring guide element 160 the folding jaw 130 in a first guide groove 171 at the folding bed 110 attached guide element 170 one. Through this guide, the softness caused by the robot is intercepted and a clean guidance of the folding jaw 130 relative to the folding bed 110 and thus relative to the body part 10 allows. The guide element 160 at the folding jaw 130 can z. B. as a longitudinally extending wedge, z. B. with rectangular cross-section, may be formed, which is arranged in a corresponding mounting groove. The guide element 170 can z. B. be formed as a profiled, longitudinally extending guide bar on the folding bed 110 is screwed on.

Subsequently, the folding jaw 130 moved vertically or vertically upward in a movement step IV, wherein the guide element 160 is disengaged, and then in a movement step V horizontally or horizontally with respect to the representation moves to the right until the second shaping section 132 the folding jaw 130 above the fold section located in the Z position 12 located. From this position, the folding jaw 130 moved in a movement step VI substantially vertically downward, wherein the second shaping section 132 the fold section 12 Completely folded over the fold length and presses, so that this assumes the dashed position E shown. This process is referred to as Fertigfalzen. The fold is now finished. The folding jaw 130 is then lifted in the movement step VII shown in dashed lines and moved back to the starting position.

During the movement step VI in this case engages formed as a key spring guide element 160 the folding jaw 130 in a second guide groove 172 at the folding bed 110 attached guide element 170 one.

The directions perpendicular or vertical and horizontal or horizontal refer to the illustration shown, and this preferably also corresponds to the real conditions. The sequence of movements of the folding jaw 130 Of course, it can also be different than shown. In addition, the guide elements 160 and 170 differently formed as shown and / or several pairs of guide elements may be provided.

3 shows a body part 10a , which is a vehicle door, actually vehicle door component. To this belongs a vehicle outer skin 13 , with a window opening 14 and a corner window detail 15 passing through a corner window 16 are separated, and a door inner part 20 where z. B. two window guide rails 21 are included. The door inner part 20 is over several folds or fold sections 12a to 12f on the vehicle exterior skin 13 attached, such that the outer edge is partially received in the respective folding pockets.

In particular, the folding of Falzabschnitte 12a . 12b and 12c in the area of the window openings 14 and 15 takes place with the device according to the invention or according to the inventive method, as explained above, wherein the folding jaw is moved by means of the robot or robot arm of folding section to folding section and wherein (at least) located on the Falzbacke guide element in each case in a provided corresponding guide element on the folding bed intervenes. For this purpose, a plurality of guide strips are preferably arranged on the folding bed. Due to the compact design of the folding jaw here is an excellent accessibility to the folding sections 12a . 12b and 12c given. This is especially true even if the fold sections 12a . 12b and 12c in one of the door inner part 20 trained window slot must be inserted.

LIST OF REFERENCE NUMBERS

10

body part

10a

Vehicle door (body part)

11

Body part edge

12

folding section

12a-12f

Fold sections (on the vehicle door)

13

Door outer skin

14

pane

15

(Corner) pane,

16

Eckfensterteilungsstrebe

20

Door inner part

21

Window guide rail

100

(Folding) device

110

folding bed

120

Stripper plate

130

seamclosing jaw

131

first shaping section

132

second shaping section

140

mounting flange

150

Robotic arm (robot)

160

Guide element (feather key)

170

Guide element (guide strip)

171

guide

172

guide

b

rebate width

H

Height of the folding jaw

l

fold length

p

Width of the folding jaw

q

Length of the folding jaw

e

End position folding section (after finished folding)

Z

Intermediate position folding section (after pre-folding)

I to VII

Movement steps (the folding jaw)

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102005004602 A1 [0003, 0003]
• DE 10016391 A1 [0003]
• DE 102006021876 A1 [0003]

Claims (15)

Contraption ( 100 ) for folding a body part edge ( 11 ), wherein on the body part edge ( 11 ) at least one pre-folded bevel section ( 12 ), comprising: - a folding bed ( 110 ) for receiving the body part to be machined ( 10 ); - a folding jaw ( 130 ) with at least one shaping section ( 131 ; 132 ), which is designed to pre-fold and / or Fertigfalzen the folding section ( 12 ) to bring about; A robot on its robot arm ( 150 ) the folding jaw ( 130 ) is arranged and by means of which it is movable and acted upon by a folding force. Contraption ( 100 ) according to claim 1, characterized in that a shaping section ( 131 ; 132 ) on the folding jaw ( 130 ) is designed such that the pre-folding and / or Fertigfalzen by a substantially vertical movement of the folding jaw ( 130 ). Contraption ( 100 ) according to claim 1 or 2, characterized in that the folding jaw ( 130 ) two shaping sections ( 131 . 132 ), wherein the first shaping section ( 131 ) for pre-folding and the second shaping section ( 132 ) is provided for Fertigfalzen. Contraption ( 100 ) according to one of the preceding claims, characterized in that a shaping section ( 131 ; 132 ) has substantially a straight axial length. Contraption ( 100 ) according to one of the preceding claims, characterized in that the axial length of a shaping section ( 131 . 132 ) between 100 mm and 500 mm, preferably between 200 mm and 400 mm and in particular in about 300 mm. Contraption ( 100 ) according to one of the preceding claims, characterized in that on the folding jaw ( 130 ) and on the folding bed ( 110 ) corresponding guide elements ( 160 . 170 ) are provided, which during the pre-folding and / or during Fertigfalzen the folding jaw ( 130 ) defined to the folding bed ( 110 ) to lead. Contraption ( 100 ) according to claim 6, characterized in that the guide elements ( 160 . 170 ) are interlocking tongue and groove elements. Contraption ( 100 ) according to claim 7, characterized in that on the folding jaw ( 130 ) a feather key ( 160 ) and that at the folding bed ( 110 ) at least one guide strip ( 170 ) with at least one key ( 160 ) corresponding guide groove ( 171 ; 172 ) is arranged, in which the feather key ( 160 ) can intervene. Method for folding a body part edge ( 11 ), in particular with a device ( 100 ) according to one of the preceding claims, wherein on the body part edge ( 11 ) at least one pre-folded bevel section ( 12 ), comprising the following steps: - placing the body part to be machined ( 10 ) on a folding bed ( 110 ); - pre-folding and / or Fertigfalzen the folding section ( 12 ) by means of a folding jaw ( 130 ) for this purpose at least one shaping section ( 131 ; 132 ), to which the folding jaw ( 130 ) on a robot arm ( 150 ) of a robot which moves it and which applies the folding force. Method according to claim 9, characterized in that the folding jaw ( 130 ) first for a first time with the folding section ( 12 ) is brought into contact, wherein a first shaping section ( 131 ) a pre-folding of the folding section ( 12 ), after which the folding jaw ( 130 ) and then a second time with the same fold section ( 12 ) is brought into contact, wherein a second shaping section ( 132 ) a Fertigfalzen the folding section ( 12 ) brought about. Method according to claim 9 or 10, characterized in that the folding jaw ( 130 ) for pre-folding and Fertigfalzen vertically and is moved horizontally during the interim process. Method according to claim 10 or 11, characterized in that the folding jaw ( 130 ) during pre-folding and Fertigfalzen relative to the folding bed ( 110 ), to which at the Falzbacke ( 130 ) and on the folding bed ( 110 ) corresponding guide elements ( 160 . 170 ), which are brought into guiding engagement accordingly. Method according to one of claims 9 to 12, characterized in that on the body part edge ( 11 ) several fold sections ( 12 ) are present, which by the Falzbacke ( 130 ) are folded, wherein the folding jaw ( 130 ) is moved by means of the robot from folding section to folding section. Folding jaw ( 130 ) for use in a device ( 100 ) or for use in a method according to any one of the preceding claims. Use of the device ( 100 ) and / or the method according to one of the preceding claims for folding at least one folding section ( 12a . 12b . 12c ) in the area of a window section ( 14 . 15 ) a vehicle door ( 10a ).

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