DE102015100659B4 - Flanging system, flanging unit and flanging process for self-sufficient flanging - Google Patents

Abstract

Flanging system for folding over a flange of a component by flanging, preferably for producing a folded connection, the flanging system comprising: (a) a flanging tool (10) with a flanging tool (2) for folding over the flange (2) along a flanged edge (3) of the component (1) on the flange (2) retractable flanging element (12), (b) a flanging unit (5) with a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3), (c) a flanging drive (20) for driving the flanging tool (10) and/or the flanging element (12) in a flanging direction (X) along the flanging edge (3), (d) and a media supply for the flanging drive (20), (e) a carrying device (9) for positioning and holding the Flanging unit (5) in a flanging position determined relative to the component (1), (f) the flanging tool (10) and the flanging drive (20) being supported within the flanging unit (5), so that a driving force to be applied for driving and one from the flanging element (12) for flanging on d The flanging force to be exerted on the flange (2) is absorbed within the flanging unit (5), (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit (5) which can be handled as a unit by the carrying device (9).

Description

The invention relates to a flanging system, a flanging unit and a flanging method for self-sufficient flanging of components. A preferred field of application is vehicle construction, in particular automobile construction. A body part or a body of a vehicle, preferably an automobile, is preferably flanged. The system and method according to the invention and the flanging unit according to the invention are particularly advantageous for flanging an already joined body. During flanging, a flange of the component is folded over partially or completely along a flanged edge in a single step or in several successive steps. The invention is particularly advantageous for hemming, i.e. for making a rabbet joint of at least two components. The term flanging includes hemming and also folding a flange without a joining operation.

In series production in automobile construction, bodywork is typically flanged by means of robots, which are arranged along a production line that conveys the bodywork in succession. Such a starting position is also present in preferred applications in the case of the invention.

During flanging, a flanging element of a flanging tool exerts a flanging force on a flange of a component to be folded over, which can in principle be absorbed by an appropriately dimensioned component, but is absorbed by a counter-element in most applications. If the flanged element and a counter-element are moved opposite one another along the flanged edge, the component can be affected by contact with the counter-element. Even small scratches and grooves are annoying if the counter-element is moved along a surface of the component that later serves as a visible surface in the finished component.

To avoid damage of this kind, the EP 1 640 080 B1 suggest using a protective structure that is applied to a component surface opposite the flange for the flanging and absorbs the flanging force exerted by the flanging element during flanging. On a side facing away from the component, the protective structure forms a roller track for a counter-element designed as a counter-roller. In this way, the flow of force between the flanging element and counter-element in the flanging tool is closed via the protective structure, with the protective structure resting immovably on the component and protecting the component from impairments by the counter-element. They are also aiming in the same direction EP 2 108 466 B1 After the protective structure also fulfills a certain management function for the flanging tool, and the EP 2 276 590 B1 , which proposes a protective structure that is stationary along the production line instead of a mobile protective structure that is positioned on the component by a robot.

The flanging tool is usually attached to an articulated arm of a robot, for example also in the prior art mentioned. The robot moves the tool on a specified path, which simulates the course of the flanged edge and is stored in a programmable robot controller. Industrial robots are typically used in series production, but also in other applications. These are articulated-arm robots that are available off-the-shelf from different manufacturers and are not tailored to specific applications. The user or manufacturer of the flanging tool to be handled by the robot must configure the robot according to the specific flanging case, usually by programming a robot controller. Specialists are required for the configuration, who not only have to know the peculiarities of flanging and the respective flanging tool, but also the details of the robot control and its programming.

It is an object of the invention to simplify automated flanging without sacrificing precision.

The subject matter of the invention is a flanging system and a flanging method for folding over a flange of a component by flanging, preferably for producing a folded joint. The flanging system includes a flanging tool with a flanging element that can be moved along a flanging edge of the component on the flange to bend the flange. In principle, the flanging element can be a flanging sliding element that slides on the flange following the flanging edge in order to turn it over. More preferably, however, the flanging element is a flanging roller that rolls along the flanging edge on the flange during flanging. The flanging system also includes a flanging unit with a guide structure for guiding the flanging tool along the flanging edge and a carrying device for positioning and holding the flanging unit in a flanging position defined relative to the component. The flanging unit can be handled as a unit by means of the carrying device, in particular can be positioned relative to the component. The flanging unit can preferably be placed on the component along the flanging edge and has a contact surface which is shaped to match the surface of the component and with which it lies flat on the component in the flanging position. The support device is also designed to the flanging unit in positioned state, ie in the suitable for flanging flanging position relative to and preferably to keep fitting to the component. The carrying device is set up accordingly to absorb the weight of the flanging unit. The component is relieved of the weight of the flanging unit, at least essentially.

A flanging drive and a media supply for the flanging drive are further components of the flanging system. The flanging drive is set up to drive the flanging tool in the flanging direction along the flanging edge, ie to ensure the propulsion of the flanging tool and thus jointly of the flanging element. If the flanging element is designed as a flanging roller, the flanging drive can be a rotary drive directly on the roller, so that the directly driven flanging roller entrains a carrier that is rotatably mounted on it in the flanging direction. More preferably, however, the flanging tool supports a flanging element configured as a flanging roller in a freely rotatable manner and can be advanced in the flanging direction as a whole, in particular including the flanging element, by means of the flanging drive.

According to the invention, the flanging tool and the flanging drive are supported within the flanging unit, so that a driving force required to drive the flanging tool and/or directly a flanging element designed as a flanging roller and a flanging force to be exerted by the flanging element for flanging the flange is at least essentially, preferably entirely be accommodated within the flanging unit. The flanging tool and the flanging drive are integrated components of the flanging unit that can be handled as a unit by means of the carrying device. By integrating the management structure, flanging tool and flanging drive in a flanging unit that can be handled as a unit, the invention creates a completely new distribution of functions. While the flanging tool according to the prior art is moved along the flanging edge by means of a robot, the invention manages without such a robot or relieves a robot present on site of the complex task of moving the flanging element in space following the course of the flanging edge. It must be taken into account that the flanged edge has a multi-dimensional, in many applications a three-dimensional course in space, i.e. it can curve around two or three spatial axes that are orthogonal to one another. The guiding function is fulfilled within the flanging unit and does not have to be taken over by a robot in a complex program. Apart from supporting the flanging unit as a whole, the fulfillment of the two functions of guiding and driving within the flanging unit allows flanging that is independent of external auxiliary devices such as a robot and, in this sense, self-sufficient.

However, a robot that is preferably present at the place of use can form the carrying device. If the robot is, as is preferred, an articulated arm robot, such as an industrial robot commonly used in vehicle construction, it only has to position and hold the flanging unit as a whole, including the guide structure, flanging tool and flanging drive, for flanging in the flanging position relative to the component. The configuration of the robot is correspondingly simplified, while on the other hand the component is relieved in that it does not have to carry the guide structure and then the entire flanging unit or at most only has to absorb a small part of the weight of the flanging force. The vast majority, preferably more than 90%, more preferably more than 95%, of the weight of the flanging unit is preferably carried by the carrying device. The risk of the component warping under the weight of a structure used in flanging is reduced. During flanging, inaccuracies such as can occur when the flanging tool is moved by the robot due to elasticities and other positioning inaccuracies in the articulated arm of the robot can no longer occur, since the flanging element is driven and guided within the positioned flanging unit.

The flanging unit can be arranged in a stationary manner within a production, preferably a series production of bodies or body parts of vehicles. In such embodiments, the positioning of the correspondingly stationary support device can consist in the component performing the movements required for exact positioning. Optionally, in addition or instead, the stationary support device can be set up for fine adjustment of the flanging unit relative to the component that is moved to form the flanging unit.

In preferred embodiments, however, the flanging unit is a mobile unit that can be moved in space and positioned relative to the component by means of the carrying device. In such designs, the carrying device can be an auxiliary device that only takes up the weight of the flanging unit, while the flanging unit held by the carrying device is positioned in the flanging position relative to the component by a person, i.e. manually, or by a separate positioning unit, and in the flanging position by the carrying device is held. The auxiliary support device can, for example, comprise one or more support straps that hang from a ceiling or other elevated platform in the area of flanging and on which Ceiling or platform is or are movable. A motor-driven overhead crane or a non-driven trolley with a harness attached to it, possibly only a single carrying strap, can form such an auxiliary carrying device. Suitable auxiliary support devices are also known as 'balancers'.

In preferred embodiments, however, a robot forms the carrying device. The robot can in particular be an articulated arm robot, for example an industrial robot, as is commonly used in vehicle construction. In principle, however, the robot can also be designed differently, as long as it can only fulfill the holding function and has the mobility required for positioning the flanging unit.

In preferred embodiments, the media supply for the flanging drive and optionally one or more other components of the flanging unit takes place via the carrying device. The media supply can include supplying the flanging unit, in particular the flanging drive, with the required energy. Instead or preferably additionally, the media supply can be set up to supply the flanging unit, in particular the flanging drive, with control or regulation signals. Accordingly, media are understood to be electrical, mechanical and fluidic energy, control signals, regulation signals, measurement signals and the like. If the carrying device is a robot, an energy supply and/or a signal transmission from the robot is preferably separate or at least partially separate. In preferred embodiments, at least the control and/or regulation signals for the flanging unit are generated and/or processed by a controller that is independent of the robot controller and can also be spatially separate from the robot. The energy supply and/or supply with one or more media for other purposes can also be implemented independently and separately from the robot, but on the other hand the flanging unit can also be supplied with energy, for example with electrical and/or fluidic energy, by the robot, since this does not significant intervention in the robot control. In any case, no movement control for guiding a flanging tool has to be provided within a robot control.

In addition to the flanging system, the invention also relates to the flanging unit as such, without the support device. The flanging unit can have any feature of the flanging unit described in connection with the flanging system and also any combination of features disclosed in this connection for the flanging unit. Accordingly, in an integrated design, the flanging unit comprises the guide structure, the flanging tool and the flanging drive as well as a connection for producing a connection suitable for handling by means of the carrying device.

The connection is set up in particular for a mechanical connection to a receptacle of the carrying device. A mechanical connection can advantageously be further developed into a media connection via which the flanging unit can be connected to the media required for operation, such as electrical and/or optical control and/or regulating signals and/or energy, for example electrical and/or fluidic energy. can be supplied.

In the method according to the invention, the flanging unit is positioned in the flanging position relative to the component by means of the support device, preferably placed against the component. If the flanging unit has the protective structure with an adapted contact surface, which is preferably a slim strip following the flanging edge, the flanging unit is positioned in the flanging position in such a way that the contact surface is in a surface area of the component close to the flanging edge, which the flanging element faces when flanging along the flanging edge opposite, lying flat on the component. The support device holds the flanging unit in the flanging position, with the support device bearing at least a major part of the weight of the flanging unit. The flanging tool is advanced in the flanging direction in a guiding and supporting engagement with the guide structure by means of the flanging drive of the flanging unit. During this movement, which takes place in the flanging direction, the flange is folded over by a predetermined angle under the action of the flanging element. A driving force exerted by the flanging drive to advance the flanging tool and a flanging force exerted by the flanging element to turn the flange over are absorbed within the flanging unit, preferably by the guide structure. Preferably, the carrying device not only takes up the weight or at least a major part of the weight of the flanging unit. By holding the flanging unit and thereby the guide structure in the flanging position, it preferably also absorbs at least a major portion of the driving force to be applied to advance the flanging element and/or at least a major portion of the flanging force.

The flanging system includes a flanging control for the control, optionally a regulated control, of the flanging drive and/or an optional adjustment device for adjusting an angular position of the flanging element. In preferred embodiments, the flanging control works autonomously. is the carrying device is a robot whose movements and gripping operations, including the movements and gripping operations required for positioning, are controlled by a robot controller, the flanging controller is implemented independently of the robot controller. No intervention in the robot control is required to control the flanging drive and/or the adjustment device. However, it should not be ruled out that the robot emits a signal to the flanging control when the flanging unit is positioned in the flanging position in order to inform the flanging control of this and thereby trigger the flanging control. From this moment on, however, the flanging control controls the flanging drive and/or adjustment device operations to be carried out during flanging without intervention by the robot, which only performs the holding function during flanging.

Advantageous features are also disclosed in the subclaims and through combinations of features described in the subclaims.

Features of the invention are also described in the aspects formulated below. The aspects are formulated in the manner of claims and can replace them. Features disclosed in the aspects can also supplement and/or qualify the claims, show alternatives to individual features and/or expand or specify claim features. Reference symbols placed in brackets relate to an exemplary embodiment illustrated below in figures. They do not limit the features described in the aspects under the literal sense as such, but on the other hand show preferred possibilities for the realization of the respective feature.

1. (a) ein Bördelwerkzeug (10) mit einem zum Umlegen des Flansches (2) längs einer Bördelkante (3) des Bauteils (1) auf dem Flansch (2) abfahrbaren Bördelelements (12), vorzugsweise einer auf dem Flansch abrollbaren Bördelrolle (12),
2. (b) eine Bördeleinheit (5) mit einer Führungsstruktur (30) zur Führung des Bördelwerkzeugs (10) längs der Bördelkante (3),
3. (c) einen Bördelantrieb (20) zum Antreiben des Bördelwerkzeugs (10) und/oder des Bördelelements (12) in eine Bördelrichtung (X) längs der Bördelkante (3),
4. (d) und eine Medienversorgung für den Bördelantrieb (20),
5. (e) eine Trageinrichtung (9) zum Positionieren und Halten der Bördeleinheit (5) in einer relativ zum Bauteil (1) bestimmten Bördelposition,
6. (f) wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) innerhalb der Bördeleinheit (5) abgestützt sind, so dass eine zum Antreiben aufzubringende Antriebskraft und eine vom Bördelelement (12) zum Bördeln auf den Flansch (2) auszuübende Bördelkraft innerhalb der Bördeleinheit (5) aufgenommen werden,
7. (g) und das Bördelwerkzeug (10) und der Bördelantrieb (20) integrierte Bestandteile der von der Trageinrichtung (9) als Einheit handhabbaren Bördeleinheit (5) sind.

Aspect 1. Flanging system for folding over a flange of a component by flanging, preferably for producing a folded joint, the flanging system comprising:

1. (a) a flanging tool (10) with a flanging element (12) that can be moved along a flanging edge (3) of the component (1) on the flange (2) for folding over the flange (2), preferably a flanging roller (12) that can roll on the flange ,
2. (b) a flanging unit (5) with a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3),
3. (c) a flanging drive (20) for driving the flanging tool (10) and/or the flanging element (12) in a flanging direction (X) along the flanging edge (3),
4. (d) and a media supply for the flanging drive (20),
5. (e) a carrying device (9) for positioning and holding the flanging unit (5) in a flanging position defined relative to the component (1),
6. (f) the flanging tool (10) and the flanging drive (20) being supported within the flanging unit (5), so that a driving force to be applied for driving and a flanging force to be exerted by the flanging element (12) for flanging on the flange (2) within the be added to the flanging unit (5),
7. (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit (5) which can be handled as a unit by the carrying device (9).

Aspect 2. Flanging system according to the preceding aspect, wherein the flanging tool (10) and the flanging drive (20) are arranged on a common tool carrier (11) which is relative to the guide structure (30) along the flanging edge (3), preferably also along the guide structure (30), is movable.

Aspect 3. Flanging system according to one of the preceding aspects, comprising a connection (6) connected to the guide structure (30) sufficiently firmly, preferably immovably, for mechanical connection to the carrying device (9), preferably for automatic reception of the flanging unit (5) through the carrying device (9).

Aspect 4. Flanging system according to one of the preceding aspects, comprising a connection (6) connected to the guide structure (30) for the media supply of the flanging unit (5).

Aspect 5. Flanging system according to one of the preceding aspects, wherein the carrying device (9) is a robot, preferably an articulated arm robot, for fully automated positioning of the flanging unit (5).

Aspect 6. Flanging system according to one of the preceding aspects, wherein the guide structure (30) together with a connection (6) for the carrying device (9) is part of a connection and guide module (6, 30) and the flanging tool (10) and the flanging drive ( 20) are components of a tool and drive module (10, 20), the tool and drive module (10, 20) being in guiding engagement with a guideway (31) of the guide structure (30), which preferably follows the course of the flanged edge (3). and can be driven by means of the flanging drive (20) as a modular unit in guide engagement along the guide track (31) relative to the guide structure (30).

Aspect 7. Flanging system according to one of the preceding aspects, wherein the guide structure (30) forms a guideway (31) which is preferably modeled on the course of the flanging edge (3), and the flanging tool (10) with the flanging drive (20), preferably together with the flanging drive (20) in a guiding engagement with the guideway (31) along the flanging edge (3) and is movable.

Aspect 8. Flanging system according to one of the preceding aspects, wherein the guide structure (30) forms a guideway (31) which preferably follows the course of the flanging edge (3), and the flanging unit (5) is an engagement element connected to the flanging tool (10). (24, 25) which is in guiding engagement with the guiding structure (30) on the guideway (31), so that the flanging tool (10) is in guiding engagement along the flanging edge (3) when the flanging unit (5) is in the flanging position. emotional.

Aspect 9. Flanging system according to one of the preceding aspects, wherein the guide structure (30) forms a guideway (31) preferably simulating the course of the flanged edge (3) and the flanging tool (10) in a guiding engagement of an engagement member (24, 25) and the guideway (31) is guided along the guide track (31), so that the flanging tool (10) moves in guiding engagement along the flanging edge (3) when the flanging unit (5) is in the flanging position.

Aspect 10. Flanging system according to one of the two immediately preceding aspects, wherein the engagement member (24, 25) comprises a guide support (24) and engagement elements (25) arranged on the guide support, which are spaced apart from one another and each contact the guide structure (30), and wherein the engaging elements (25) are provided in such a number and arrangement that the guide support (24) can only move translationally along the guide track (31) relative to the guide structure (30).

Aspect 11. Flanging system according to one of the three immediately preceding aspects, wherein the guide track (31) and the engagement member (24, 25) are pressed against one another in a first dovetail engagement and in a second dovetail engagement which counteracts the first dovetail engagement transversely to the flanging direction (X), to form the guide engagement, and wherein the engagement member (24, 35) comprises engagement elements (25) spaced from each other in the crimping direction (X) in the first dovetail engagement and in the second dovetail engagement.

Aspect 12. The crimping system of any of the four immediately preceding aspects wherein the engaging members are engaging rollers.

Aspect 13. Flanging system according to one of the preceding aspects, wherein the flanging tool (10), preferably also the flanging drive (20), is movably guided and supported in a guide engagement on the guide structure (30), so that at least a predominant part of the flanging force and/or or at least a major part of the weight of the flanging tool (10), preferably also of the flanging drive (20), is or will be absorbed in the guide engagement.

Aspect 14. Flanging system according to one of the preceding aspects, wherein the flanging unit (5) comprises an engagement member (24, 25) which is connected to the flanging tool (10) and which engages the guide structure (30) in supporting engagement which absorbs the flanging force and in supporting engagement relative to the The guide structure (30) is movable, so that the flanging tool (10) is movably supported on the guide structure (30) in the flanging direction (X) in the supporting engagement.

Aspect 15. Flanging system according to one of the preceding aspects, wherein the flanging unit (5) comprises a protective structure (33) with a preferably strip-shaped contact surface (34) which adjoins a surface (4 ) of the component is shaped to fit and can be placed against this surface, the contact surface (34) preferably being shaped on the guide structure (30), so that the guide structure (30) also forms the protective structure (33).

Aspect 16. Flanging system according to one of the preceding aspects, wherein the flanging tool (10) and the flanging drive (20) are arranged to be movable together, the flanging drive (20) having a motor (22), a drive wheel (23) which can be driven by the motor and a drive track (32) with a track profile that mimics the profile of the flanged edge (3) and wherein the drive wheel (23) is in frictional and/or positive engagement with the drive track (32), so that the drive wheel (23) moves together when the drive is rotated moved with the motor (22) and the crimping tool (10) along the drive track (32).

Aspect 17. Flanging system according to the preceding aspect, wherein the drive wheel (23) is a toothed wheel located in meshing engagement with the drive track (32) and the drive track (32) has teeth or preferably a chain or a toothed belt strip which or the Course of the drive track (32) is supported, preferably on the guide structure (30).

Aspect 18. The crimping system of any preceding aspect, wherein the crimping element (12) is angularly adjustable relative to the guide structure (30).

Aspect 19. Flanging system according to one of the preceding aspects, wherein the flanging element (12) is adjustably arranged on a tool carrier (11) of the flanging tool (10) and the flanging tool (10) has an adjusting device (13-19) for adjusting an angular position of the flanging element ( 12) relative to the tool carrier (11).

• - das Bördelwerkzeug (10) eine Verstellbahn (16-18) und ein mit der Verstellbahn (16-18) in einem Verstelleingriff befindliches Verstellglied (13, 14) umfasst,
• - das Bördelelement (12) an einem aus Verstellbahn (16-18) und Verstellglied (13, 14), vorzugsweise am Verstellglied (13, 14), angeordnet ist, vorzugsweise ortsfest zu dem einen aus Verstellbahn (16-18) und Verstellglied (13, 14),
• - und eine Winkelposition des Bördelelements (12) durch eine Relativbewegung von Verstellbahn (16-18) und Verstellglied (13, 14) im Führungseingriff von Verstellbahn (16-18) und Verstellglied (13, 14) relativ zur Verstellbahn (16-18) verstellbar ist.

Aspect 20. Flanging system according to any one of the preceding aspects, wherein

• - the flanging tool (10) comprises an adjustment track (16-18) and an adjustment element (13, 14) in adjustment engagement with the adjustment track (16-18),
• - the flanging element (12) is arranged on one of the adjustment track (16-18) and the adjustment member (13, 14), preferably on the adjustment member (13, 14), preferably stationary with respect to the one of the adjustment track (16-18) and the adjustment member ( 13, 14),
• - and an angular position of the flanging element (12) by a relative movement of the adjustment track (16-18) and the adjustment member (13, 14) in the guiding engagement of the adjustment track (16-18) and the adjustment member (13, 14) relative to the adjustment track (16-18) is adjustable.

Aspect 21. Flanging system according to the preceding aspect, wherein the adjustment track (16-18) has a curved adjustment section (16), preferably curved over an angle of at least 60°, for adjusting the angular position, an entry and exit section (18) and a ramp section (17) which connects the retraction and extension section (18) to the adjustment section (16) via a ramp.

Aspect 22. Flanging system according to one of the two immediately preceding aspects, wherein the adjustment track (16-18) projects transversely to the flanging direction (X) beyond the guide structure (30) and is concavely curved in relation to the guide structure (30) and wherein the flanging element ( 12) is arranged at least in a working position in an area between the adjustment track (16-18) and the guide structure (30) and/or the protective structure (33) according to aspect 15 in order to reduce the flanging force in the direction of the guide structure (30) and/or or exercising the protective structure (33) of aspect 15.

Aspect 23. Flanging system according to any one of the preceding aspects, wherein the flanging element (12) is arranged relative to the guide structure (30) and/or the protective structure (33) according to aspect 15 such that the edges of the flanging element (12) rest on the flange ( 2) the crimping force that can be exerted acts in the direction of the guide structure (30) and/or the protective structure (33) according to aspect 9.

Aspect 24. Flanging system according to one of the preceding aspects, wherein the flanging unit (5) has a measuring device (27) for detecting the flange (2) and/or the flanged edge (3) and the measuring device (27) together with the flanging tool (10). is movably arranged, preferably on the flanging tool (10), preferably in such a way that the measuring device (27) detects the flanging edge (3) and/or the flange (2) from the side of the flanging element (12).

Aspect 25. Flanging system according to one of the preceding aspects, wherein the carrying device (9) is a robot with a robot controller for controlling and/or regulating movements of the robot, preferably an articulated arm of the robot, and the flanging system is a flanging control for the flanging drive (20) includes, wherein the flanging control is independent of the robot control and is preferably also implemented spatially separately from this.

Aspect 26. Flanging system according to one of the preceding aspects, further comprising a flanging control which is set up to control the flanging drive (20) and/or the adjusting device (19) described in aspect 19, optionally in a regulated manner, wherein the carrying device (9 ) is a robot with a robot controller and the flanging control is set up to control the flanging drive (20) and/or the adjustment device (19) independently of the robot control, optionally to control it in a regulated manner, and preferably arranged spatially separately from the robot control or the robot is.

1. (a) ein Bördelwerkzeug (10) mit einem zum Umlegen des Flansches (2) längs einer Bördelkante (3) des Bauteils (1) auf dem Flansch (2) abfahrbaren Bördelelement (12), vorzugsweise einer auf dem Flansch (2) abrollbaren Bördelrolle (12),
2. (b) eine Führungsstruktur (30) zur Führung des Bördelwerkzeugs (10) längs der Bördelkante (3),
3. (c) einen Bördelantrieb (20) zum Antreiben des Bördelwerkzeugs (10) und/oder des Bördelelements (12) in eine Bördelrichtung (X) längs der Bördelkante (3),
4. (d) und eine Medienversorgung für den Bördelantrieb (20),
5. (e) einen Anschluss (6) zum Verbinden der Bördeleinheit (5) mit einer Trageinrichtung (9) zum Positionieren und Halten der Bördeleinheit (5) in einer relativ zum Bauteil (1) bestimmten Bördelposition,
6. (f) wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) innerhalb der Bördeleinheit (5) abgestützt sind, so dass eine zum Antreiben aufzubringende Antriebskraft und eine vom Bördelelement (12) zum Bördeln auf den Flansch (2) auszuübende Bördelkraft innerhalb der Bördeleinheit (5) aufgenommen werden,
7. (g) und das Bördelwerkzeug (10) und der Bördelantrieb (20) integrierte Bestandteile der von der Trageinrichtung (9) als Einheit handhabbaren Bördeleinheit (5) sind.

Aspect 27. Flanging unit for folding over a flange of a component by flanging, preferably for producing a folded joint, the flanging unit comprising:

1. (a) a flanging tool (10) with a flanging element (12) that can be moved along a flanging edge (3) of the component (1) on the flange (2), preferably a flanging roller that can roll on the flange (2), for folding over the flange (2). (12),
2. (b) a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3),
3. (c) a flanging drive (20) for driving the flanging tool (10) and/or the flanging element (12) in a flanging direction (X) along the flanging edge (3),
4. (d) and a media supply for the flanging drive (20),
5. (e) a connection (6) for connecting the flanging unit (5) to a carrying device (9) for positioning and holding the flanging unit (5) in a flanging position defined relative to the component (1),
6. (f) the flanging tool (10) and the flanging drive (20) being supported within the flanging unit (5), so that a driving force to be applied for driving and a flanging force to be exerted by the flanging element (12) for flanging on the flange (2) within the be added to the flanging unit (5),
7. (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit (5) which can be handled as a unit by the carrying device (9).

1. (a) die in wenigstens einem der vorhergehenden Aspekte beschriebene Bördeleinheit (5) mittels einer Trageinrichtung (9), vorzugsweise einem Roboter, in einer Bördelposition relativ zum Bauteil (1) positioniert
2. (b) und von der Trageinrichtung (9) in der Bördelposition gehalten wird,
3. (c) während das Bördelwerkzeug (10) in einem Führungs- und Stützeingriff mit der Führungsstruktur (30) mittels des Bördelantriebs (20) der Bördeleinheit (5) in die Bördelrichtung (X) vorgetrieben und bei dieser Bewegung der Flansch (2) unter der Einwirkung des Bördelelements (12) um einen vorbestimmten Winkel umgelegt wird,
4. (d) wobei eine vom Bördelantrieb (20) zum Vortreiben des Bördelwerkzeugs (10) ausgeübte Antriebskraft und eine vom Bördelelement (12) zum Umlegen auf den Flansch (2) ausgeübte Bördelkraft innerhalb der Bördeleinheit (5), vorzugsweise von der Führungsstruktur (30), aufgenommen werden.

Aspect 28. A method for flanging a flange of a component, preferably for hemming, in which

1. (a) the flanging unit (5) described in at least one of the preceding aspects is positioned in a flanging position relative to the component (1) by means of a carrying device (9), preferably a robot
2. (b) and is held in the flanging position by the carrying device (9),
3. (c) while the flanging tool (10) is in guiding and supporting engagement with the guide structure (30) by means of the flanging drive (20) of the flanging unit (5) in the flanging direction (X) and during this movement the flange (2) falls under the the action of the flanging element (12) is folded over by a predetermined angle,
4. (d) wherein a driving force exerted by the flanging drive (20) to advance the flanging tool (10) and a flanging force exerted by the flanging element (12) to turn it over onto the flange (2) within the flanging unit (5), preferably by the guide structure (30) , to be included.

• - die Trageinrichtung (9) ein Roboter mit einer Robotersteuerung ist, die den Roboter zur Positionierung der Bördeleinheit (5) steuert,
• - und eine Bördelsteuerung den Bördelantrieb (20) und/oder die in Aspekt 19 beschriebene Verstelleinrichtung (19) unabhängig von der Robotersteuerung steuert, optional geregelt steuert.

Aspect 29. The method of the preceding aspect, wherein

• - the carrying device (9) is a robot with a robot controller that controls the robot for positioning the flanging unit (5),
• - and a flanging control controls the flanging drive (20) and/or the adjustment device (19) described in aspect 19 independently of the robot control, optionally in a regulated manner.

• 1 ein Bördelsystem mit integrierter Bördeleinheit in Bördelposition an einem Bauteil,
• 2 die Bördeleinheit in Bördelposition,
• 3 einen Bördelbereich mit teilweise umgelegtem Bauteilflansch,
• 4 die Bördeleinheit und das Bauteil in einer rückwärtigen Sicht,
• 5 ein Werkzeug- und Antriebsmodul der Bördeleinheit,
• 6 die Bördeleinheit in perspektivischer Sicht, und
• 7 die Bördeleinheit in einer anderen Sicht.

An exemplary embodiment of the invention is explained below with reference to figures. Features disclosed in the exemplary embodiment advantageously develop the subject matter of the claims and the aspects and also the configurations explained above, individually and in each combination of features. Show it:

• 1 a flanging system with an integrated flanging unit in flanging position on a component,
• 2 the flaring unit in flaring position,
• 3 a flanging area with a partially folded component flange,
• 4 the flanging unit and the component in a rear view,
• 5 a tool and drive module of the flanging unit,
• 6 the flanging unit in perspective view, and
• 7 the flanging unit in a different view.

the 1 and 2 show a component 1 and a flanging unit 5, which is positioned in a flanging position relative to the component 1 and is held in the flanging position by means of a carrying device 9. The flanging unit 5 has a connection 6 for a mechanical connection to the carrying device 9 . The connection 6 is set up for attachment to an articulated arm of a robot, preferably a conventional industrial robot, and has the geometry and connection elements required for this, for example in the form of a conventional connection flange. The connection 6 is preferably set up for detachable attachment to an articulated robot arm. In particular, an articulated-arm robot can thus serve as the carrying device 9 . From the articulated arm robot is in 1 only the end of the Gekenkarm shown. In 2 although the flanging unit 5 also assumes the flanging position, ie is held by the support device 9, the support device 9 is not shown, however, so that the view of the connection 6 is clear. The connection 6 can be set up so that the robot can dock and undock the flanging unit 5, ie can automatically pick it up and put it down again.

The flanging unit 5 is used for flanging a wheel house flange of an automobile body along a flanging edge. The flanging can be used in particular to produce a folded joint.

3 illustrates the production of a folded joint between the component 1 and a component 4. The component 1 is an outer panel of the body, and the component 4 is an inner surface structure of the body, for example an inner panel. When folding, a marginal Flange 2 of component 1 is folded around a flanged edge 3 of component 1 and thereby around an edge of component 4, so that component 4 protrudes into a folded pocket formed by component 1 after completion of the folded joint and due to a curved course of the folded or flanged edge 3 is positively connected to the component 1. Folded connections of this type and their production in one or more folding steps are known in the prior art. In this regard, for example, on the EP 1 640 080 B1 to get expelled. 3 shows the conditions during folding schematically using the example of a flat fold, while in the other figures for the embodiment a flanging element 12 with a conical-cylindrical circumference is shown for the production of a teardrop flange.

4 shows the component 1 in a rear view of the already partially folded flange 2. From in 1 The outer panel or component 1 shown only shows the flange 2 that has already been folded over and the beaded edge 3 around which the flange 2 is folded over. The component 4, the internal surface structure, protrudes along the beaded edge 3 into the fold pocket formed by the beading. Only a part of the flanging unit 5 that protrudes into the wheelhouse can be seen, on which a flanging element 12 acting directly on the flange 2 for flanging is arranged. The flanging element 12 is a flanging roller that rolls on the flange 2 during flanging, exerting the flanging force required for folding it onto the flange 2 and thereby folding it by a specific angle. The folding over of the flange 2 can be carried out in a single flanging step or, as in the exemplary embodiment, in several flanging steps carried out one after the other. In order to turn over the flange 2 in several steps, the flanging element 12 is arranged in the flanging unit 5 so as to be angularly adjustable. In contrast to the prior art, a setting angle that the flanging element 12 has relative to the component 1 is not changed by means of a robot, but rather by adjusting a setting angle that the flanging element 12 has relative to a tool carrier 11 of the flanging unit 5 . The flanging element 12 is thus arranged on the flanging unit 5 so as to be angularly adjustable.

The flanging unit 5 comprises a first module, which includes the connection 6 and a guide structure 30, hereinafter also called connection and guide module 6, 30, and a second module which includes a flanging tool 10 and a flanging drive 20 and hereinafter referred to as a tool - And drive module 10, 20 is called. The tool and drive module 10, 20 is movably guided along the flanged edge 3 on the connection and guide module 6, 30.

The guide structure 30 forms a guide track 31 which is modeled on the course of the flanged edge 2 so that it follows the course of the flanged edge 2 when the flanged unit 5 is in the flanged position. The tool and drive module 10, 20 is in a guiding engagement with the guide structure 30, in which the tool and drive module 10, 20 is guided in a translatory manner along the guide track 31 and in the flanging position along the flanging edge 2. In the guide engagement, the tool and drive module 10, 20 only has the degree of freedom of the translatory movement along the guide track 31.

The tool and drive module 10, 20 is self-propelled due to the integrated flanging drive 20. The flanging drive 20 drives the tool and drive module 10, 20 during flanging along the guide track 31 in a flanging direction, so that the flanging element 12 wraps around the flange 2 along the flanging edge 2 in the flanging direction according to its angle of attack.

The tool and drive module 10, 20 is movably supported on the guide structure 30. The guide structure 30 carries the tool and drive module 10, 20, ie absorbs its weight, and also absorbs the driving force to be applied for the propulsion and the flanging force to be applied for the flanging. The support takes place in the guiding engagement of the guiding structure 30 and the tool and drive module 10, 20 and can also take place in a driving engagement of a drive track 32, which is firmly connected to the guiding structure 30, with the flanging drive 20. In principle, however, the functions of guiding and supporting on the guiding structure 30 can also be implemented separately from one another, but preference is given to the combined supporting and guiding engagement, since this reduces the volume and in particular the weight of the flanging unit 5 compared to separating the functions can.

The drive track 32 follows the course of the guide track 31. In the exemplary embodiment, the tracks 31 and 32 are parallel and arranged next to one another in a direction transverse to the flanging direction. In a modification, they can be nested, for example. In yet another modification, the guide track 31 can also form the drive track 32 with a double function, so that the guide engagement and the drive engagement coincide. Since the drive engagement of connection and guide module 6, 30 and tool and drive module 10, 20 is preferably based on positive locking, while guide track 31 is preferably smooth, spatial separation of guide track 31 and drive track 32 is preferred, with both tracks 31 and 32 however for the purpose of volume and Weight savings advantageously run directly next to each other or one above the other.

The connection and guidance module 6, 30 also includes a protective structure 33, with which it rests in the flanging position in a component area opposite the flanging edge 3 on the component 1 as seen from the flange 2. The protective structure 33 has a contact surface which rests against the component 1 in the flanging position and is shaped to match said component area. The protective structure 33 can in terms of the protective function of the protective structure EP 1 640 080 B1 correspond. In contrast to this, however, the protective structure 33 is immovably connected to the guide structure 30 . In the exemplary embodiment, the guide structure 30 and the protective structure 33 are designed in one piece, for example formed separately and firmly connected to one another, or preferably already formed in a process of common original forming and optionally finished.

The drive track 32 can also be formed in a common primary forming process with the guide structure 30 . The guide structure 30 and the drive track 32, optionally also the protective structure 33, can be formed in one piece in a common process of primary shaping, with the primary shaping being able to be followed by finishing in order for the respective structure or paths 30 to 33 to have the required to ensure precision. In a further development, which is implemented in the exemplary embodiment, the drive track 32 is formed directly by a chain, which is attached to the guide structure 30 at least in chain end regions and is supported over its course by a support track immovably connected to the guide structure 30 . The support track can be joined immovably to the guide structure 30 or preferably formed on the guide structure 30 in a primary shaping process and then finished if necessary. The use of a chain or instead of a toothed belt strip serves to implement a form-fit drive engagement with the flanging drive 20 and, within the scope of the shape flexibility of a chain or a toothed belt strip, allows design freedom with regard to the course of the drive track 32. As already mentioned, the drive track 32 follows the guide track 31, which is modeled on the course of the flanged edge 2 and therefore, like this, can be multidimensionally curved in many applications, in particular also in wheelhouse rabbets, that is to say can curve about axes which are not parallel to one another. If the drive track 32 were provided as non-yielding toothing directly on the guide structure 30, which would be possible in principle, the toothing would also have to curve around non-parallel axes in said applications. However, the manufacturing costs for such a toothing clearly exceed the costs for the realization of the drive track compared to the use of a chain or a toothed belt strip.

The guide structure 30 , including the contact surface facing the component 1 and the drive track 32 , is designed as a narrow strip simulating the course of the beaded edge in order to save weight. Corresponding to the course of the flanged edge 2 of the exemplary embodiment, the guide structure 30 is shaped like a bow and can also be referred to as a guide bow.

At the guide structure 30, as in the 1 and 2 recognizable, a fixing device with one or more fixing elements 29 can be arranged. However, if the connecting and guiding module 6 , 30 is designed with a fixing device, the fixing device is not required to support the weight of the flanging unit 5 on the component 1 . This function is performed by the carrying device 9. By means of an optional fixing device with one or more fixing elements 29, which are arranged at a distance from one another along the guide track 31, the flanging unit 5, which is positioned and held in the flanging position by means of the carrying device 9, can be positioned and held in the flanging position with greater precision relative to the component 1 be fixed. A fixing device can be used in particular to tension the flange 2 relative to the guide structure 30 in order to compensate for manufacturing tolerances of the component 1 .

5 shows the tool and drive module 10, 20 detached from the connection and guide module 6, 30. The flanging tool 10 comprises the tool carrier 11, on which the flanging element 12 formed as a flanging roller is arranged in an angle-adjustable manner, and an adjustment drive 19 arranged on the tool carrier 11 for the angular adjustment of the flanging element 12. The mutually orthogonal axes of a coordinate system which is stationary in relation to the tool carrier 11 are denoted by X, Y and Z. The X-axis is parallel to the local flanging direction, which changes over the course of the guide track 31. If the flanging element 12 is designed as a flanging roller, the axis of rotation R of the flanging roller preferably points orthogonally to the flanging direction, i.e. to the X-axis of the flanging tool 10. The flanging force acts at least essentially orthogonally to the flanging direction and orthogonally to the axis of rotation R.

The angle of the flanging element 12 can be adjusted relative to the tool carrier 11 in order to be able to adjust the angle that the flanging element 12 has when flanging relative to the flange 2 immediately before the respective flanging operation is carried out in the YZ plane of the flanging tool 10 . In the Rah With regard to the angular adjustability, the flanging element 12 can be pivoted about an axis parallel to the respective local flanging direction, ie about an X-axis specific to the tool.

To adjust the angle of the flanging element 12, the flanging tool 10 has an adjustment structure 15 with an adjustment path 16-18. The flanging element 12 is rotatably mounted on an engagement member, which has a flanging element carrier 13 with engagement elements 14, which are in guiding engagement with the adjustment structure 15, in which the adjustment member 13, 14 is guided with the flanging element 12 along the adjustment path 16-18 of the guide structure 15 movable and therefore angle-adjustable. As in the exemplary embodiment, the engagement elements 14 can in particular be engagement rollers.

The adjustment path 16-18 has a curved adjustment section 16, along which the adjustment member 13, 14 and thus the flanging element 12 is guided in an adjustment engagement during adjustment. The adjustment movement of the flanging element 12 is predetermined by the course of the adjustment section 16 . In the adjustment engagement, the adjustment member 13 , 14 moves the adjustment section 16 with its engagement elements 14 . The adjustment movement of the flanging element 12 depends on the radius of curvature of the adjustment section 16 and the distance that a surface area on the outer circumference of the flanging element 12 has from the adjustment section 16 . Said surface area on the outer circumference of the flanging element 12 is the surface area with which the flanging element 12 is in contact with the flange 2 during flanging. The radius of curvature of the adjustment section 16 can be constant, so that an edge of said surface area, when the flanging element 12 is designed as a flanging roller, a rolling contact point on the outer circumference of the roller, remains stationary with respect to the tool carrier 11 during the adjustment. However, the adjustment section 16 does not have to describe a section of a circle or not just a section of a circle. It can also vary so that the flanging element 12 carries out a further movement superimposed on a pure pivoting movement.

In addition to the adjustment section 16 , the adjustment path 16 - 18 has an retraction and extension section 18 and a ramp section 17 which connects the retraction and extension section 18 to the adjustment section 16 . In 5 the flanging element 12 assumes an end position in relation to the guide structure 15 and its adjustment path 16-18, which the flanging element 12 occupies during the final flanging or final folding, i.e. to carry out the last flanging step, in which the flange 2 is completely folded over and against the finished folding pocket protruding edge of component 4 ( 2 and 3 ) is pressed. After this last flanging step has been carried out, the adjustment member 13 , 14 with the flanging element 12 arranged thereon is moved in the adjustment engagement along the adjustment section 16 via the ramp section 18 into engagement with the retracting and extending section 18 . When the adjustment element 13, 14 traveling along the adjustment path 16-18 after the flanging has reached the retracting and extending section 18 in the adjusting engagement, the flanging unit 5 is moved out of the flanging position by means of the carrying device 9 and is available for flanging the next component 1 .

In an extended position, which the adjusting member 13, 14 assumes before and after the flanging of the respective component 1, the adjusting member 13, 14 is in a rear region with the one - And extension section 18 and in a front area with the adjustment section 16 engaged. The connecting ramp section 17 runs in between. If the flanging unit 5 is positioned on the component 1 in the flanging position, the rear area of the adjustment member 13, 14 is extended out of the retraction and extension section and is completely retracted into the adjustment section 16 via the ramp section 17. The adjusting member 13 and 14 and thus the flanging element 12 perform a tilting movement about a tool-specific X-axis during this retraction movement. Due to the tilting movement, the flanged element 12 comes into contact with or at least in the immediate vicinity of the flange 2.

For the adjustment of the flanging element 12, the flanging tool 10 has an adjustment drive 19, which can in particular be a linear drive. The linear drive can be designed as a fluidic drive. It is preferably an electric drive. The adjusting drive 19 is connected to the adjusting member 13, 14 by means of a linkage in order to be able to compensate for relative movements occurring between the adjusting member 13, 14 and the adjusting drive 19 when adjusting movements are carried out. In addition to or instead of an articulated connection by means of a linkage, the adjusting drive 19 itself can also be supported on the tool carrier 11 in a pivotable manner.

As already mentioned, the tool and drive module 10, 20 comprises the flanging drive 20. The flanging drive 20 comprises a drive carrier 21, a motor 22 supported on the drive carrier 21 and a drive wheel 23 which can be driven by the motor 22 and is formed as an externally toothed spur gear. The drive wheel 23 is arranged coaxially to a motor shaft of the motor 22, but in principle other arrangements are possible. Although the drive wheel 23 can be arranged directly on the motor shaft in a torsionally rigid manner, it is more preferably connected to the motor shaft by means of a reduction gear. The drive carrier 21 is at work tool carrier 11 supported. Although the tool carrier 11 and the drive carrier 21 can in principle already be manufactured in one piece in a primary shaping process, they are expediently formed separately and firmly joined to one another. The drive wheel 23 is connected to the drive track 32 ( 1 ) in positive drive engagement. In the drive engagement, the drive wheel 23 and the drive train 32 work together like a pinion and chain or gear wheel and toothed belt.

The flanging unit 5 is assigned a flanging control which controls the flanging drive 20 and the adjustment drive 19, optionally in a regulated manner. It provides the two drives 19 and 20 with the control signals, according to which the flanging drive 20 moves and positions the flanging tool 10 and, in the special exemplary embodiment, the tool and drive module 10, 20 relative to the guide structure 30, and the adjusting drive 19 moves the flanging element 12 relative to the tool carrier 11 misaligned. The flanging control works independently. If a robot forms the carrying device 9, it works independently of a robot controller. It can nevertheless be arranged on the robot, but due to its self-sufficient mode of operation it can advantageously be arranged spatially separately from the robot controller or also from the robot. However, it can be coupled to the robot controller in such a way that it receives a start signal from the robot controller when the flanging unit (5) assumes the flanging position and/or sends an end signal to the robot control when flanging on the respective component is complete. However, the start signal and/or the end signal can also be output by a higher-level production controller. The flanging control can also control flanging in clocked series production according to the cycle of the series only as a function of the specified cycle time, so that the mentioned start/end communication can also be dispensed with.

The flanging element 12 can be adjusted in the adjustment engagement along the adjustment section 16 into different, discretely predetermined angular positions in order to successively turn over the flange 2 in several flanging steps corresponding to an angular position associated with the respective flanging step. In a further development, instead of or in addition to specifying discrete angular positions, the flanging control can be set up to continuously adjust the angular position of the flanging element 12 within the entire adjustment range or only within part of the entire adjustment range predetermined by the adjustment section 16 . A controller for the flanging unit 5 can advantageously be set up to continuously adjust the angular position of the flanging element 12 during flanging, and in this sense dynamically, in order to generate a continuously tapering flange 2 at one or both longitudinal ends of the flanging edge 3, for example , so that the buckle plate opens continuously.

For the guide engagement with the guide structure 30, the tool and drive module 10, 20 also has an engagement element formed in the manner of a trolley with a guide carrier 24 serving as a module carrier and engagement elements 25 formed as guide rollers. More precisely, the engagement member 24, 25 comprises two roller carriages which are arranged opposite one another at a clear distance and are each immovable relative to the tool carrier 11, apart from the rotational mobility of the engagement elements 25.

In 6 the guide engagement and also the drive engagement of tool and drive module 10, 20 and guide structure 30 can be clearly seen. With regard to the guide engagement, only the engagement of one trolley of the engagement member 24, 25 can be seen. The conditions are mirror-inverted on the underside of the guide structure 30 with the engagement member 24, 25 located there in guide engagement and are the same. In the 6 and 7 are also the protective structure 33 formed directly on the guide structure 30 with the contact surface 34 ( 7 ) and the drive track 32 can be seen. As already mentioned, the drive track 32 can be formed by a chain, which itself is not shown, however. The chain can expediently be arranged in a groove 35 of the guide structure 30 and thus not only supported on a support track 36 on an underside facing away from the drive wheel 23 in the guide engagement, but also be guided laterally in the groove 35 .

The guide mesh is designed as a double dovetail mesh. The guideway 31 is accordingly composed of a first pair of guideway segments 31 that are inclined relative to each other in the cross section of the guide structure 30 and a second pair of guideway segments 31 that are also inclined relative to one another. The two pairs of guideway segments 31 face away from one another transversely to the flanging direction X and are formed opposite one another on the guide structure 30 . The engagement elements 25 are arranged on the guide carrier 24 so as to be rotatable about axes of rotation that are inclined relative to one another, corresponding to the respectively assigned track segment of the guide track 31 . The double dovetail engagement ensures a particularly firm support and precise guidance of the tool and drive module 10, 20 on the guide structure 30. The leadership engagement is in view of the fact that the engagement member 24, 25, the guide structure 30 and in particular Track 31 engages referred to as a dovetail engagement, although the engagement members 25 forming the engagement are rollers as preferred.

Regarding the guiding engagement and adjusting engagement, it should also be noted that both engagements are formed by engaging rolling elements, namely the engaging elements 14 of the adjusting engagement and the engaging elements 25 of the guiding engagement. Although this is advantageous with regard to the friction conditions and wear, the adjusting engagement and/or the guiding engagement could in principle be formed as a sliding engagement.

The adjustable section 16 of the adjustment structure 15, optionally also with the ramp section 17 or also the retraction and extension section 18, projects transversely to the flanging direction X over the guide engagement, i.e. over the guide structure 30. The adjustment section 16 is concavely curved in relation to the guide engagement of the guide structure 30 and the tool and drive module 10, 20 and can face the guide engagement in particular, as in the exemplary embodiment. The flanging element 12 is arranged in an area between the adjustment path 16-18 and the guide engagement. This configuration is particularly advantageous for wheelhouse flanging or folding, since flanging unit 5 is positioned and held on the outside of component 1 in the flanging position, while flanging element 12 in the wheelhouse is used for flanging, at least for finish flanging, from the inside to the outside, in the direction of guide structure 30 or the optionally available protective structure 33 acts.

If the flanging unit 5 includes, as is preferred, a protective structure with a contact surface that rests on the outside of the component 1 in the folded flange 2 in the flanging position, such as the protective structure 33, it can be supported by the carrying device 9, which in preferred embodiments counteracts the flanging force, on a jointly the flanging element 12 movable counter-element in the flanging direction can be dispensed with. If the support device only takes up the weight of the flanging unit 5, a fixing device for taking up the flanging force is preferably additionally provided. Such a fixing device can be provided externally in order to support the flanging unit 5 externally in relation to the component 1 counteracting the flanging force. In principle, however, it should not be ruled out that the carrying device only bears the weight of the flanging unit 5 during flanging and the flanging force is supported by being fixed to the component 1 .

A measuring device can be arranged on the tool and drive module 10, 20, for example as in 7 illustrated with the reference number 27 . With the measuring device 27, the flange 2 and/or the beaded edge 3 can be detected before and/or during and/or after the flanging. For a preferred optical detection of the flange 2 and/or the flanged edge 3, the measuring device 27 can have a laser and a recording device for the light emitted by the laser onto the flange 2 and/or the flanged edge 3 and reflected from there to the recording device. The flange 2 and/or the flanged edge 3 can be measured with an optical measuring device 27, in particular by means of a triangulation method. The recording device can be set up for continuous recording or for a snapshot of the reflected laser light. The recording device can in particular be a video camera. The signal emitter, for example a light source and in particular a laser, and the recording device are advantageously arranged in the immediate vicinity of one another and preferably in a common housing, as is also the case in the exemplary embodiment. The measuring device 27 can be arranged in particular in an area protruding beyond the guide engagement, in the exemplary embodiment in the area of the adjustment structure 15, in order to be able to detect the flange 2 and/or the flanged edge 3 from the inside, out of the wheel housing, when the wheel housing is flanged or folded .

The metrological detection of the flange 2 and/or the beaded edge 3 can be used to calibrate the beading system and/or to control the quality of the beaded component 1 . If the carrying device 9 is a robot, as is preferred, the robot can, depending on the result of a calibration, adapt the flanging position individually and thus particularly precisely to the component 1 to be processed in each case. In this way, the flanging unit 5 can be positioned taking into account the production-related special features of the respective component, i.e. taking into account the geometric deviations from component to component within the scope of production tolerances.

Reference List

1

component

2

flange

3

beaded edge

4

-

5

crimping unit

6

Connection for carrying device

7

-

8th

-

9

carrying device

10

flaring tool

11

tool carrier

12

flanging element

13

flanging element carrier

14

engagement element

15

adjustment structure

16

adjustment section

17

ramp section

18

entry and exit section

19

adjustment drive

20

flare drive

21

drive carrier

22

engine

23

drive wheel

24

leaders

25

engagement element

26

-

27

measuring device

28

-

29

fixing device

30

management structure

31

guideway

32

drive train

33

protective structure

34

contact surface

35

groove

36

support track

R

axis of rotation

X,Y,Z

Coordinate system of the tool

Claims (17)

Flanging system for folding over a flange of a component by flanging, preferably for producing a folded joint, the flanging system comprising: (a) a flanging tool (10) with a flanging element (12) that can be moved along a flanging edge (3) of the component (1) on the flange (2) for folding the flange (2), (b) a flanging unit (5) with a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3), (c) a flanging drive (20) for driving the flanging tool (10) and/or the flanging element (12) in a flanging direction (X) along the flanging edge (3), (d) and a media supply for the flanging drive (20), (e) a carrying device (9) for positioning and holding the flanging unit (5) in a flanging position defined relative to the component (1), (f) the flanging tool (10) and the flanging drive (20) being supported within the flanging unit (5), so that a driving force to be applied for driving and a flanging force to be exerted by the flanging element (12) for flanging on the flange (2) within the be added to the flanging unit (5), (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit (5) which can be handled as a unit by the carrying device (9). flanging system claim 1 , wherein the flanging element (12) is arranged to be adjustable relative to a tool carrier (11) of the flanging tool (10) and the flanging tool (10) has an adjusting device (13-19) for adjusting an angular position of the flanging element (12) relative to the tool carrier (11) includes. flanging system claim 1 or 2 , wherein the carrying device (9) is a robot with a robot control for controlling and/or regulating movements of the robot or at least one articulated arm of the robot and the flanging system is a flanging control for the flanging drive (20) and/or the adjustment device (13-19) wherein the flanging control is set up to control the flanging drive (20) and/or the adjusting device (19) independently or in a regulated manner by the robot control. Flanging system according to one of Claims 1 until 3 , wherein the flanging unit (5) comprises a protective structure (33) with a contact surface (34) which is adapted to a surface (4) of the component which is opposite the flange (2) and adjoins the flanging edge (3) and which can be placed against this surface . Flanging system according to one of Claims 1 until 4 , wherein - the flanging tool (10) comprises a curved adjustment track (16-18) and an adjustment member (13, 14) in adjustment engagement with the adjustment track (16-18), - the flanging element (12) on the adjustment track (16- 18) or the adjustment member (13, 14), - or is stationary to one of the adjustment track (16-18) and adjustment member (13, 14), - and an angular position of the flanging element (12) by a relative movement of the adjustment track (16-18) and adjusting member (13, 14) in the guiding engagement of adjusting track (16-18) and adjusting member (13, 14) relative to adjusting track (16-18) is adjustable. flanging system claim 5 , wherein the adjustment path (16-18) has a curved adjustment section (16) for adjusting the angular position, a retraction and extension section (18) and a ramp section (17) which includes the retraction and extension section (18) via a ramp the adjustment section (16) connects. Flanging system according to one of Claims 5 or 6 , wherein the adjusting track (16-18) projects beyond the guide structure (30) transversely to the flanging direction (X) and is concavely curved in relation to the guide structure (30), and wherein the flanging element (12) is at least in a working position in a region between the Adjustment track (16-18) and the guide structure (30) and/or the protective structure (33) is arranged in order to exert the flanging force in the direction of the guide structure (30) and/or the protective structure (33). Flanging system according to one of Claims 1 until 7 , wherein the flanging tool (10) and the flanging drive (20) are arranged on a common tool carrier (11) which is movable relative to the guide structure (30) along the flanging edge (3). Flanging system according to one of Claims 1 until 8th , wherein the guide structure (30) forms a guide track (31) and the flanging tool (10) is guided in a guide engagement with the guide track (31) along the flanging edge (3) movable. flanging system claim 9 , wherein the flanging tool (10) is guided in a guiding engagement of an engagement member (24, 25) and the guide track (31) along the guide track (31) and the engagement member (24, 25) has a guide support (24) and on the guide support (24) arranged engaging elements (25) spaced from each other and respectively in contact with the guide structure (30) to form the guide engagement, and wherein the engaging elements (25) are provided in such a number and arrangement that the guide support ( 24) relative to the guide structure (30) can only move in translation along the guide track (31). Flanging system according to one of claims 9 or 10 , wherein the guideway (31) and the engagement member (24, 25) are pressed against each other in a first dovetail engagement and in a second dovetail engagement acting transversely to the flanging direction (X) counteracting the first dovetail engagement to form the guide engagement, and wherein the engagement member ( 24, 35) in the first dovetail engagement and in the second dovetail engagement in the flanging direction (X) spaced engagement elements (25). Flanging system according to one of Claims 1 until 11 , wherein the flanging tool (10) is movably guided and supported in a guiding engagement on the guiding structure (30), so that at least a major part of the crimping force and/or at least a major part of the weight of the crimping tool (10) is absorbed in the guiding engagement. Flanging system according to one of Claims 1 until 12 , wherein the flanging tool (10) and the flanging drive (20) are arranged to be movable together, the flanging drive (20) having a motor (22), a drive wheel (23) which can be driven by the motor and a drive track (32) with a course of the flanging edge (3) comprises a simulated path and wherein the drive wheel (23) is in a frictional and/or positive engagement with the drive track (32), so that the drive wheel (23) rotates together with the motor (22) and the flanging tool when driven in rotation (10) moved along the drive track (32). Flanging system according to one of Claims 1 until 13 , wherein the flanging unit (5) has a measuring device (27) for detecting the flange (2) and/or the flanged edge (3) and the measuring device (27) is arranged to be movable together with the flanging tool (10). Flanging unit for folding over a flange of a component by flanging, preferably for producing a folded joint, the flanging unit comprising: (a) a flanging tool (10) with a flanging tool for folding the flange (2) along a flanged edge (3) of the component (1) on the flange (2) retractable flanging element (12), (b) a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3), (c) a flanging drive (20) for driving the flanging tool (10) and/or of the flanging element (12) in a flanging direction (X) along the flanging edge (3), (d) and a media supply for the flanging drive (20), (e) a connection (6) for connecting the flanging unit (5) to a carrying device ( 9) for positioning and holding the flanging unit (5) in a flanging position defined relative to the component (1), (f) the flanging tool (10) and the flanging drive (20) being supported within the flanging unit (5), so that a Driving applied driving force and a from the flare element (12) the flanging force to be exerted on the flange (2) for flanging is absorbed within the flanging unit (5), (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit that can be handled by the carrying device (9) as a unit (5) are. Method for flanging a flange of a component, preferably for hemming, in which (a) the in claim 15 The flanging unit (5) described is positioned (b) in a flanging position relative to the component (1) by means of a carrying device (9) and is held in the flanging position by the carrying device (9), the carrying device (9) bearing at least a major part of the weight of the carries the flanging unit (9), (c) while the flanging tool (10) in a guiding and supporting engagement with the guide structure (30) is advanced in the flanging direction (X) by means of the flanging drive (20) of the flanging unit (5) and during this movement the flange (2) is folded over by a predetermined angle under the action of the flanging element (12), (d) a driving force exerted by the flanging drive (20) for advancing the flanging tool (10) and a driving force exerted by the flanging element (12) for folding onto the flange (2) exerted flanging force can be absorbed within the flanging unit (5). procedure after Claim 16 , in which - the carrying device (9) is a robot with a robot control which controls the robot for positioning the flanging unit (5), - and a flanging control the flanging drive (20) and/or an adjusting device (19) for adjusting the flanging element ( 12) controls or controls relative to a tool carrier (11) independently of the robot controller.

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