DE102012019958A1 - Producing component made of fiber reinforced plastic, comprises providing textile semifinished product with thermoplastic matrix in first mold, heating it, and molding product in second mold using multi-axis robot having end effector - Google Patents

Abstract

Producing component made of a fiber reinforced plastic, comprises providing a textile semifinished product (9) with a thermoplastic matrix in a first mold, heating the textile semifinished product in at least one region, and molding the textile semifinished product in a second mold using at least one multi-axis robot (3). The molding is carried out via a tactile sensor system under force control, where at least one end effector (5) is provided for the multi-axis robot with respect to concrete molding, using which the textile semifinished product is held and/or molded. An independent claim is also included for a device (1) for carrying out the above method, comprising many miniaturized multi-axis robots, which comprise exchangeable end effector with respect to the concrete molding.

Description

The invention relates to a method for producing a component made of fiber-reinforced plastic according to claim 1, and to an apparatus for carrying out such a method according to the preamble of claim 8.

Devices and methods for producing components made of fiber-reinforced plastics are known. The problem here is the forming of a semi-finished fiber-reinforced plastic, because this - unlike semi-finished metal - has a high anisotropy and only a limited Nachfließen of material during the forming allowed. Ultimately, the fiber-reinforced plastic can only deform elastically and ruptures in case of overload. Forming can cause wrinkles or bulges and cracks.

From the DE 10 2010 054 195 A1 is a method for producing a structural component of an organic sheet out, which is transformed by means of grippers in a gripper frame. In this case, the shaping is substantially achieved by the grippers to move the semi-finished textile into the gripper frame and create on the walls. The final contour is thus determined essentially by the shape of the gripper frame. The grippers have a limited displaceability substantially in one direction. Thus, the device is overall little flexible use. It should be added that a handling of the textile semifinished product is not or only slightly sensitive controllable, so that the locally applied forces can only be adapted insufficiently to the actual forming conditions present.

Just to be able to deliberately deform and drape a textile semifinished product, it is also known to perform the deformation by hand. By hand, a suitable pressure can be determined by feeling, whereby damage or errors in the component can be avoided. This is hardly or only with difficulty possible with conventional automated methods.

The invention is therefore based on the object to provide a method for producing a component made of fiber-reinforced plastic and a device suitable for carrying out the method, wherein the method and the device should be suitable for high-volume production. At the same time they should be flexible for a variety of Umformvorhaben be used without requiring major conversions. Furthermore, a deformation of the textile semifinished product should be carried out with forces adapted to the deformation task as well as possible so that damage or defects in the component are avoided as far as possible.

This object is achieved by providing a method with the steps of claim 1.

As part of the process, a textile semifinished product with thermoplastic matrix in a first form, that is, a first contour, provided. For example, it is possible that the textile semi-finished product is initially flat. It is at least partially heated to facilitate the forming, and it is brought by at least one multi-axis robot in a second form. This can be, for example, the desired final shape or final contour of the component to be produced. The deformation is performed force-controlled via a tactile sensor, which has the at least one multi-axis robot. The sensor technology gives the robot a certain sense and a degree of flexibility, so that the force control is particularly precise and ensures gentle processing of the semi-finished product. It is therefore possible, with the aid of the multi-axis robot, in particular, to bring anisotropic semi-finished textile products into the second shape without errors. In the context of the method, it is further provided that for the at least one multi-axis robot, at least one end effector is selected specifically with regard to the concrete forming by means of which the textile semifinished product is held and / or reshaped. The term "end effector" refers to a type of tool or gripper, with which the multi-axis robot can handle the textile semi-finished product. The method is particularly flexible feasible because the at least one multi-axis robot perform a variety of different movements and thus can handle a variety of different forming tasks. So it is by no means fixed to a specific shape, and it requires no major retooling to produce a different final shape or final contour of the textile semifinished product. Ultimately, only one motion sequence of the multi-axis robot has to be changed or reprogrammed. The method is furthermore particularly flexible because at least one end effector for the multi-axis robot can be selected specifically and functionally adapted to the specific forming task. In particular, the end effector is preferably interchangeable so that it can be swiftly and quickly replaced with a deviating end effector if a new forming task requires it.

Depending on the specific forming task, it is also possible to vary the sensors of the multi-axis robot at the same time as the end effector. In particular, depending on the specific design of the end effector, it may in fact be advantageous if the tactile sensor technology is also adapted.

As a textile semifinished product preferably a fabric, scrim, mesh, knitted or knitted fabric of glass, carbon, aramid fibers or other suitable fibers is selected, which are embedded in a thermoplastic matrix, for example of a thermosetting plastic such as epoxy or polyester resin. Such a thermoplastic matrix material melts at relatively low temperatures, preferably between at least 200 and at most 300 ° C., so that the semi-finished products can be formed virtually as often as desired. The textile semifinished product is particularly preferably formed as ready-made, that is tailored, organic sheet. This is, for example, a component formed from a fiber-reinforced, preferably long-fiber-reinforced or endless-fiber-reinforced thermoplastic component, preferably a plate. Such an organic sheet has a low weight and a high rigidity.

However, the nature of the textile semifinished product does not play a decisive role. While it is thus possible in one embodiment of the method to select a semifinished textile product in a planar shape as a first shape, for example a plate, it is quite possible in another embodiment of the method, a tube or another profile as the first form of the textile semifinished product to choose. With the help of the multi-axis robot, it is readily possible to transform even such non-flat textile semi-finished products, for example, to bend a tube or to change with respect to its cross-sectional shape with appropriately trained end effectors. It is also possible to stretch a tubular semifinished product or - in addition to edit, for example, to cut, seal or deburr - with the help of suitable end effectors.

A method is preferred which is characterized in that the semi-finished textile product is draped with the aid of the multi-axis robot in a press tool. The press tool has a trough or plant, which is shaped according to the trainees, the second shape of the textile semifinished product. With the help of the at least one multi-axis robot, the textile semifinished product can be draped flush in the press tool, so applied to this, due to the flexible control and travel of the multi-axis robot and due to its tactile sensor can be done a precise force-controlled system, so that wrinkles, dents, cracks , Fiber shifts and / or shearing of the textile semifinished product are avoidable.

In another embodiment of the method, it is preferred that the textile semifinished product is freely deformed with the aid of the multi-axis robot. This means that no contour is used for supporting, leaning or molding. The textile semifinished product is held or carried and transformed exclusively by the at least one multi-axis robot. In this way, even larger components, especially when using more than a multi-axis robot, easily transform. In this case, the type of deformation which is carried out by the at least one multi-axis robot, comparable to manual work, because the travels or movements that can perform the multi-axis robot, are quite comparable to the movement of a human hand. In addition, the multi-axis robot has a tactile sensor, so that the forming can be performed precisely controlled by force.

A method is also preferred in which a tubular, semi-finished textile product is formed. As already indicated, this is readily possible with the aid of the at least one multi-axis robot. In this case, it is in particular possible to bend the tubular semi-finished textile product or to change its cross-sectional shape and / or its cross-sectional size.

A method is also preferred which is characterized in that a multiplicity of preferably miniaturized multi-axis robots is used for the forming. In this case, very complex forming tasks are readily feasible even on larger semi-finished textile products, because with the help of the large number of multi-axis robots a large number of independent movements and displacement paths can be represented. At each of the multi-axis robots, an end effector specifically selected for the forming task may be provided, which may be different or also identical to the other selected end effectors. The multitude of multi-axis robots can be moved in a virtually controlled manner relative to one another, and because of the precise force control which the tactile sensor technology of each of the multi-axis robots makes possible, very complex forming tasks, in particular free-form tasks, can be handled gently. Of course, it is also possible to drape a semi-finished textile product in a press tool with the aid of a plurality of preferably miniaturized multi-axis robots.

A method is preferred in which the at least one end effector is selected from a group consisting of a needle gripper, a parallel gripper, a suction gripper, a magnetic gripper and a combination gripper.

An end effector can therefore be designed as a needle gripper. This has at least one needle, preferably a plurality of needles, which can engage in or penetrate into the textile material. In this way, the needle gripper is able to safely and the textile material to hold on to, and in particular to locally distort and / or distort. It is thus possible to locally change an orientation of fibers with the aid of an end effector designed as a needle gripper. It is also possible to damage the semi-finished textile locally with the help of the needles locally, if this - for example, to relieve or to eliminate stresses - is necessary. Depending on the arrangement of the needles on the needle gripper, it is possible to grasp the textile semi-finished flat and / or linear, with due to the textile material in a direction perpendicular to the surface, penetrating needles neither edges nor wrinkles in the Gripper result.

Alternatively or additionally, it is possible that an end effector is designed as a parallel gripper. A parallel gripper is quasi-pliers-like, thus has two pliers elements which are pivotable relative to each other, wherein the textile semifinished product can be clamped between the pliers elements. With the help of the parallel gripper, it is possible to grip the semi-finished textile product at its edge or in the region of folds. It can be stretched or pulled, and it is possible to fold, bend, bend and / or tension it using the parallel gripper.

Alternatively or additionally, it is possible for an end effector to be designed as a suction gripper. This comprises a kind of suction cup, suction head or squeegee, in any case a terminal suction element, which is preferably in fluid communication with a vacuum source. With the help of the suction gripper, it is possible to gently grip the semi-finished textile because it is neither pierced with needles nor pinched between pliers. It is also possible to grip the textile semifinished product by means of the suction gripper in a linear or planar manner, in particular when a suction gripper comprises several suction heads next to one another in a line-shaped and / or planar arrangement. In this case, it is also possible for the suction gripper to be adapted to a desired or an existing contour of the textile semifinished product in order to be able to grasp it better, or to bring it into the desired contour. The suction gripper is then designed as a contour gripper. Finally, it is possible with the help of the suction gripper, to lift the textile semi-finished product, to hold, to stretch, to tension, and deep-draw in particular by means of a suction gripper designed as a contour gripper.

Alternatively or additionally, it is possible that an end effector is designed as a magnetic gripper. This makes it possible, in particular, to grasp ferromagnetic objects. A semifinished textile product which is not itself ferromagnetic or comprises ferromagnetic particles can be gripped by means of the magnetic gripper by arranging the magnetic gripper and a preferably ferromagnetic counterpart on opposite sides of the textile semifinished product. The preferably ferromagnetic counterpart is then attracted to the magnetic gripper when it is activated. In this case, the textile semifinished product is clamped between the counterpart and the magnetic gripper, so that it can be manipulated with the aid of the magnetic gripper. Preferably, the magnetic gripper has an electromagnet, so that a holding force is electrically regulated. In particular, it is possible with the aid of a magnetic gripper to grasp the textile semi-finished product areally. It can also be lifted, held, pulled and deep-drawn especially with a preferably designed as a contour gripper magnetic gripper. This is particularly advantageously possible with a ferromagnetic counterpart designed to be complementary to the contour of the contour gripper, or if the semi-finished textile itself has ferromagnetic particles or ferromagnetic fibers or filaments in fiber bundles. In this case, it is readily possible to locally reshape the textile material with the aid of a magnetic contour gripper.

Finally, it is alternatively or additionally possible that an end effector is designed as a combination gripper. A combination gripper comprises a combination of at least two of the aforementioned types of end effectors and / or at least one other end effector type. It is possible that the combination gripper has different end effectors, which are arranged virtually side by side. But it is also possible that the combination gripper combines different gripping principles in a gripper. For example, a magnetic suction gripper can be realized by combining a suction head in fluid communication with a vacuum source with an outer electromagnetic ring so that the correspondingly formed end effector can alternatively or simultaneously aspirate and magnetically grasp a semi-finished textile product. In this case, the suction effect is achieved in a region which is enclosed by the annular electromagnet. Such a combination gripper can gently grip, grasp surface, adapt to a contour, regulate a holding force electrically and / or pneumatically, and grip multi-layer components, such as components that include plastic and metal. With the help of the combination gripper, it is possible to lift the textile semifinished product, to grasp, to pull and - if the combination gripper is designed as a contour gripper - also deep draw.

Ultimately, any types of end effectors can be combined with each other into combination grippers.

A method is also preferred, which is characterized in that a preform is produced with the aid of at least one first end effector, wherein an end shape is formed from the preform by means of at least one end effector designed as a contour gripper. In this case, the semifinished textile product is preferably coarsely preformed by means of the at least one first end effector, while the more detailed final shape, which for example has a smaller radius of curvature than the preform, is formed with the aid of the at least one contour gripper. The contour gripper then only has to make a comparatively small deformation, that is to say, only a relatively small forming work is required. This is possibly advantageous because the coarse mold with the help of the contour gripper would be difficult or very expensive to produce, while it can be easily produced by other gripper types.

The object is also achieved by providing an apparatus for carrying out a method according to one of the previously described embodiments having the features of claim 8. The device is characterized by a plurality of preferably miniaturized multi-axis robots which have replaceable end effectors selected with regard to a specific forming task. This realizes the benefits already achieved in connection with the process.

The multi-axis robots preferably have a tactile sensor with which they can perform a precise, force-controlled deformation of the textile semifinished product.

A device is preferred, which is characterized in that the end effectors are selected from a group consisting of a needle gripper, a parallel gripper, a suction gripper, a magnetic gripper and a combination gripper. With regard to the concrete design of the end effectors and their possible uses, reference is made to the statements on the method, which also apply to the device as well.

Finally, a device is preferred which is characterized in that it comprises a plurality of identical and / or different end effectors, from which a plurality of multi-axis robots can be selected with regard to a specific forming task.

It thus turns out that within the framework of the method and with the aid of the device a modular principle can be realized, in which specialized multi-axis robots can be made available for every requirement, that is to say for each specific forming task and / or for each type of component to be produced , where the specialization of multi-axis robots shows in the nature of the end effectors provided to them. It is therefore preferably a large number of each other in terms of their nature, their size, their geometric configuration and other properties of various end effectors provided, from which for each specific Umformaufgabe the appropriate selected for the corresponding multi-axis robots and attached to this. In this case, a plurality is preferably provided by each specific end effector, so that in any case more than one multi-axis robot can be equipped with the same end effector.

According to the same modular principle, a control for the device is preferably designed so that predefined displacement paths, motion and / or sensitivities of tactile sensors for multi-axis robots are selected according to the modular principle, where they are for a specific forming task and / or a concrete, umzuformendes textiles Semi-finished are suitable. For this purpose, not only a suitable end effector, but also a suitable function for its displacement or movement as well as for the behavior of its tactile sensor system can be selected for each multi-axis robot.

The invention will be explained in more detail below with reference to the drawing. Showing:

1 a schematic representation of a first embodiment of the method or a first embodiment of a device;

2 a schematic representation of a second embodiment of the method or a second embodiment of the device, and

3 a schematic representation of a third embodiment of the method.

1 shows a schematic representation of a first embodiment of the method and a first embodiment of a device 1 , This includes a plurality of miniaturized multi-axis robots 3 . 3.1 . 3.2 that have different end-effectors 5 exhibit. This is the end effector 5 of the multi-axis robot 3 in the illustrated embodiment as a flat needle gripper 7 formed, that is, it has a plurality of needles, which are arranged here flat, in particular in different rows and columns in the manner of a matrix. Particularly preferred is the needle gripper 7 rectangular shaped, but it is also possible any other shape.

In another embodiment, the needle gripper is 7 formed linear, so has a plurality of juxtaposed needles along a line, preferably a straight line or a curved line.

In yet another embodiment, the needle gripper is 7 L-shaped, thus includes a preferably right angle, in which two rows of needles are arranged relative to each other.

In another embodiment, it is also possible that the multi-axis robot 3 a geometric to the needle gripper 7 having identically formed suction pads, in which instead of the needles suction cups are provided.

With the help of the end effectors 5 becomes a semi-finished textile 9 in the illustrated embodiment of the method in a press tool 11 draped. It is possible, the semi-finished textile 9 wrinkle-free, flush, gentle and contoured to a contour of the press tool 11 create, because with the help of multi-axis robots 3 . 3.1 . 3.2 and the end effectors 5 a precise, force-controlled handling is possible. It turns out that here are the end effectors 5 the multi-axis robot 3.1 . 3.2 are designed as contour gripper, which on a contour of the press tool 11 or of the textile material to be draped thereon 9 are adjusted. It is possible that the end effector 5 of the multi-axis robot 3.1 as a suction pad 13 is formed, which here has three at an angle arranged suction cups. Likewise it is possible that the end effector 5 of the multi-axis robot 3.1 is designed as a needle gripper having appropriately arranged needles.

Also the end effector 5 of the multi-axis robot 3.2 can be designed accordingly as a suction or needle gripper.

Finally, it is also possible that at least one of the end effectors 5 is designed as a magnetic gripper and / or as a combination gripper.

The multi-axis robots 3 . 3.1 . 3.2 are trained here as mini robots and on a larger leadership robot 15 arranged. This is essentially a rough advancement of the multi-axis robot 3 . 3.1 . 3.2 , which then locally take over the proposed forming task.

2 shows a second embodiment of the method and the device 1 in a schematic representation. The same and functionally identical elements are provided with the same reference numerals, so that reference is made in this respect to the preceding description. In the context of the embodiment of the method shown here, the textile semifinished product 9 with the help of multi-axis robots, of which here for the sake of clarity, only two with the reference numerals 3 . 3.1 are designated, freely formed without a system, a contour for supporting or a mold is provided.

The multitude of multi-axis robots 3 . 3.1 So here is so programmed and equipped with suitable end effectors that the semi-finished textile 9 completely free without recourse to a shaping contour can be transformed.

Preferably, the multi-axis robot 3 joint axes 17 . 1.17 . 2.17 on, in each case two robot members, in total thus four robot members 18 . 1.18 . 2.18 . 3.18 articulated and around the joint axes 17 . 1.17 . 2.17 pivotally connected to each other. Preferably, at least the outer robot members are additionally 18 . 3.18 , each at only one hinge axis 17 . 2.17 are articulated, pivotable about a longitudinal axis, giving a total of five degrees of freedom for a movement of the multi-axis robot 3 result.

The multi-axis robot 3.1 here has an end effector 5 on, as a flat suction pads 13 is trained. This is here particularly large and rectangular in shape, and has a plurality of suction heads quasi-matrix-like in rows and columns. He serves here to hold a bottom of a textile semifinished product 9 to be molded tub, while the remaining multi-axis robot 3 Forming wall areas of the tub during forming.

In 2a) is the semi-finished textile 9 shown in its first form before forming.

It is either in its already by the multi-axis robots 3 . 3.1 gripped state or in a state still dissolved by these at least locally heated, especially in the areas that are to be reshaped. It is also possible to heat the textile semi-finished product as a whole.

By an arrow P is the transition from 2a) to 2 B) indicated, wherein the semi-finished textile 9 is transformed into its second form. This is almost the bottom of the textile semifinished product 9 through the multi-axis robot 3.1 pulled down while at the same time be bent by the other multi-axis robot wall portions of the component to be formed upwards.

A control of the movements of the multi-axis robot is preferably carried out so that first a computer-aided Drapiersimulation is performed, in which the semi-finished textile 9 is transformed into the desired final shape in a simulated thermoforming mold. In this case, trajectories of individual points of the textile semi-finished product are calculated, which execute them in the simulated thermoforming tool. Preferably, dots are at the locations of the textile semifinished product 9 simulated, at which later the multi-axis robots attack with their end effectors. The trajectories or trajectories for the end effectors 5 the multi-axis robot 3 . 3.1 are finally derived from the calculated paths of the simulated points, so that the actual, seized by the end effectors points of the textile semifinished product 9 move according to the simulated trajectories.

At the in 2 illustrated embodiment of the device 1 is it possible for the remaining end-effectors 3 , except the end effector 3.1 , Also designed as a suction pad, where they have virtually only a punctiform acting suction head. It is also possible that these are designed as magnetic gripper, as a needle gripper or as a combination gripper. Of course it is also possible that various of the except the multi-axis robot 3.1 remaining multi-axis robot 3 equipped with different end effectors.

Preferably, the in 2 illustrated transformation via a tactile sensor technology of the multi-axis robot performed force-controlled. In this way it is possible, the semi-finished textile 9 very gentle, wrinkle-free, without cracks, fiber shifts or other mistakes.

The multi-axis robots 3 . 3.1 are here on a plate 19 arranged. This can be provided fixed in space in the area of a forming station. It is also possible that the plate 19 Part of a guide robot, not shown here 15 or on a leadership robot 15 is arranged.

3 shows a third embodiment of the method or the device 1 , The same and functionally identical elements are provided with the same reference numerals, so that reference is made to the preceding description.

In the illustrated embodiment of the method is in 3a) first a preform by means of first end effectors 5 here as a parallel gripper 21 are formed generates. The parallel gripper 21 grab the textile semi-finished product 9 at its ends and roughly bend it into the preform.

It is an end effector 5 provided, as a contour gripper 23 is formed, and the here at a corresponding to a contour to be achieved preformed surface 25 a plurality of suction heads, one of which is denoted by the reference numeral 27 is designated.

As in 3b) represented, the semi-finished textile 9 after forming the preform using the as a contour gripper 23 trained end effector 5 transferred to its final form, passing through the suction cups 27 to the surface 25 is sucked.

In that regard, the semi-finished textile 9 almost locally with the help of the contour gripper 23 deep-drawn.

It becomes clear that it is favorable, the semi-finished textile 9 first with the help of the parallel gripper 21 to preform, because it by means of the contour gripper 23 alone difficult to impossible would be in 3b) illustrated end form of a flat first form of the textile semifinished product 9 manufacture. On the other hand, it is easily possible from the in 3a) shown, roughly preformed preform using the contour gripper 23 in the 3b) To produce shown final shape.

Overall, it is found that it is possible with the help of the method and the device due to the reproduced on the device level and on the control plane modular principle to manufacture in a flexible, simple and fast way suitable for mass production complaint-free components comprising fiber-reinforced plastic. Components whose coarse packing dimensions and degrees of deformation differ only slightly can readily be used in an already existing device 1 be manufactured without far-reaching changes in terms of the end effectors used and the programming required. Should with the help of the device 1 Modified components are manufactured, this can easily accomplish this by reprogramming the travels, the force control and / or replacement of the end effectors of the preferably miniaturized multi-axis robot.

This means that it is using the device 1 and the method is possible to theoretically create any shapes, without doing a great deal of change. In particular, no new tools need to be procured, which, for example, in a deep drawing of the textile semifinished product 9 would be inevitable. This saves not only logistical costs and programming costs, but also materials.

The manifold possibilities of the device 1 are limited only by the range of the robot arms, the degrees of freedom of the multi-axis robots and the available range of end-effectors.

Finally, it turns out that the method and the device 1 Create new opportunities for the use of semi-finished textile products or fiber-reinforced plastic components, especially organic sheets. These cost-effective materials can be used even more varied, especially in vehicle construction, whereby they reduce the weight of a vehicle produced in this way and lead to an effective lightweight construction, ultimately ultimately to fuel economy.

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 102010054195 A1 [0003]

Claims (10)

Process for producing a component from fiber-reinforced plastic, comprising the following steps: providing a semi-finished textile product ( 9 ) with thermoplastic matrix in a first form; Heating the textile semifinished product ( 9 ) in at least one area, and forming the textile semifinished product ( 9 ) in a second form with the aid of at least one multi-axis robot ( 3 ), wherein the deformation is performed under force control via a tactile sensor system, and wherein for the at least one multi-axis robot ( 3 ) specifically with regard to the specific transformation, at least one end effector ( 5 ) is selected, by means of which the semi-finished textile product ( 9 ) and / or reshaped. Method according to claim 1, characterized in that the semi-finished textile product ( 9 ) with the help of the multi-axis robot ( 3 ) in a press tool ( 11 ) is draped. Method according to claim 1, characterized in that the semi-finished textile product ( 9 ) with the help of the multi-axis robot ( 3 ) is freely deformed. Method according to one of the preceding claims, characterized in that a tubular semi-finished textile product ( 9 ) is transformed. Method according to one of the preceding claims, characterized in that for the forming of a plurality of preferably miniaturized multi-axis robots ( 3 ) is used. Method according to one of the preceding claims, characterized in that the at least one end effector ( 5 ) is selected from a group consisting of a needle gripper ( 7 ), a parallel gripper ( 21 ), a suction pad ( 13 ), a magnetic gripper and a combination gripper. Method according to one of the preceding claims, characterized in that by means of at least one first end effector ( 5 ) is produced, wherein from the preform by means of at least one as a contour gripper ( 23 ) trained end effector ( 5 ) a final shape is formed. Contraption ( 1 ) for carrying out a method according to one of claims 1 to 7, characterized by a plurality of preferably miniaturized multi-axis robots ( 3 ), which are exchangeable end-effectors selected for a specific forming task ( 5 ) exhibit. Contraption ( 1 ) according to claim 8, characterized in that the end effectors ( 5 ) are selected from a group consisting of a needle gripper ( 7 ), a parallel gripper ( 21 ), a suction pad ( 13 ), a magnetic gripper and a combination gripper. Contraption ( 1 ) according to one of claims 8 and 9, characterized in that the device has a multiplicity of identical and / or different end effectors ( 5 ), from which with regard to a specific forming task a plurality for the plurality of multi-axis robots ( 3 ) is selectable.

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