EP2283945A2 - Folding device - Google Patents
Folding device Download PDFInfo
- Publication number
- EP2283945A2 EP2283945A2 EP10171410A EP10171410A EP2283945A2 EP 2283945 A2 EP2283945 A2 EP 2283945A2 EP 10171410 A EP10171410 A EP 10171410A EP 10171410 A EP10171410 A EP 10171410A EP 2283945 A2 EP2283945 A2 EP 2283945A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- folding
- tool
- roller
- rollers
- counter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
- B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
- B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
Definitions
- the invention relates to a folding device with the features in the preamble of the main claim.
- the invention solves this problem with the features in the main claim.
- the folding device according to the invention has the advantage that it can be used for a wide variety of folding and flanging operations.
- the folding device may consist in a simple embodiment of a folding tool with a pairing of a driven folding roller and a freely rotatable counter-roller.
- the edge of a component or workpiece to be machined can be retracted by the rotational movement of the driven folding roller into the area between the folding roller and the counter roller. This advantageously leads to a continuous and controlled executable folding processing. Even at those points of the workpiece where large expansions of the fold edge must occur during processing or are difficult to access, a high production quality is guaranteed.
- the processing of a folding or beading can be done in one or more stages.
- the folding tool may preferably have several pairs of driven folding rollers and adjustable in their position counter-rollers.
- several successive folding operations can be done with the same tool without a change becomes necessary, which advantageously leads to very low cycle times while maintaining a great versatility of the folding device.
- the folding device according to the invention also different workpieces to be machined with different folding and / or flare geometry can be edited in any order with the same tool.
- the folding device With the folding device according to the invention, it is possible to fold such roof sheets of different variants directly on the main line.
- the folds and crimps can be done before or after installation of the roof panel in the body.
- the roof panels can be provided on the outside with a circumferential fold in only one folding device on the outside and be connected in the region of an inside punched out for sunroof or folding roof by crimping with a corresponding support frame.
- a plurality of different folds and / or flanges can be produced on different workpiece shapes with the same folding tool. This leads to significant cost savings for the manufacturing plant and a flexible integration of changing folding processes in the production process. The variant flexibility can thus be increased while reducing costs.
- the folding tool of the folding device according to the invention may preferably have one or more controllable or controllable electric motors for driving the folding rollers.
- the folding device may further comprise a detection device for folding parameters, which detects, for example, the drive energy of the folding rollers in particular via the motor currents in the drives.
- the detection device can also be used as a sensor to absorb reaction forces and / or reaction moments in the region of the seaming tool, e.g. be formed of the tool engagement.
- a particularly preferred embodiment of the folding device includes a folding tool with a conical folding roller and a cylindrical folding roller, each of which is assigned at least one cylindrical counter-roller.
- the counter-rollers are freely rotatable in their axis, but arranged adjustable in their position about one or more rotational and / or translatory axes. In this case, for example, the position and / or the orientation of the counter-roller can be adjusted.
- the counter-rollers can be mounted on an adjustable roller carrier. By adjusting the counter-rollers, the angle between the axes of the driven folding roller and the respective counter-roller can be adjusted. As a result, multiple folding steps can be performed successively with a pair of rollers, wherein the folded edge is folded to successively smaller Falzö Maschinenschenswinkel.
- a straight folding edge in a first step, can be folded from a fold opening angle of 180 ° to about 135 ° and in a further step from 135 ° to about 90 ° with a cylindrical seaming roller and a cylindrical counter roller.
- the adjustment of the counter-roller can advantageously also take place during the tool engagement.
- a circumferential fold edge can take place in two successive fold stages without discontinuation of the seaming tool. This leads to a shortening of cycle times and to avoid manufacturing inaccuracies by re-starting the seaming tool.
- the adjustment of the counter and / or folding rollers can also be done in a rest position after discontinuation of the tool from the workpiece.
- the roller carrier can be movably mounted and preferably displaceable on the tool head. This makes it possible, for example, to selectively influence the spacing of the counter roller from the driven seaming roller, whereby the seaming tool can be adapted in a simple manner to different workpiece thicknesses or folding angles to be machined.
- the driven folding rollers can be movably mounted on the respective drive axle.
- the folding rollers can be selectively positioned and delivered.
- the folding tool can first be applied with a counter-roller to the fold edge to be processed and then the area to be processed of the seaming edge be folded by a delivery of the driven folding roller.
- the folding tool can have one or more additional counter-rollers. These can, for example, be brought into such a position on the seam edge to be processed that the deformed part of the seam edge is supported in a defined manner at the back by a second counter roller. At the same time, the region of the seaming edge which is intended to stand upright can be clamped between the first and second counter-rollers, thereby avoiding undesired deformation of this clamped-in area. This can advantageously account for stationary arranged and adapted to a specific folding geometry clamping devices.
- a flange edge of a first component to be machined and a supporting edge of a further component lying behind it, such as a support frame, can be locally fixed and clamped together for the tool engagement between the first and second counter rollers.
- a support frame can be locally fixed and clamped together for the tool engagement between the first and second counter rollers.
- stationary clamping devices can be dispensed with stationary clamping devices in many cases, which leads to simplifications in the workpiece handling and to a shortening of set-up times.
- the folding device may have one or more adjusting devices for the adjustment of the folding rollers and / or the counter-rollers.
- the adjusting devices may have their own drives or be actuated via an external device.
- the folding tool may further comprise one or more devices for mechanically locking the relative position of folding rollers and counter-rollers.
- the locking devices can advantageously part of the adjusting devices and with these on the base support or on the tool head of the Folding tool be arranged. However, the locking devices can also be part of a roller carrier.
- the folding tool has a modular construction of a base support and a tool head formed as an exchangeable head module.
- the base support can in this case have one or more connections for media and / or energy supply for the tool head and be connected to this modular.
- Such a folding tool can have several optimized for the particular purpose head modules that can be changed as needed.
- the drives for the folding rollers and / or the adjusting devices can be arranged as required in the base carrier or tool head.
- a powerful and comparatively large electric motor can be arranged as a drive for the folding rollers in the base carrier, which is connected via a shaft-hub connection with the head module and there, for example via a transmission with one or more folding rollers.
- Two more comparatively low-power drives can be arranged, for example, to confirm the adjusting devices for the displacement of the folding rollers and for the adjustment of the counter-rollers as a hydraulic cylinder in the head module.
- the folding device can have one or more magazines for providing and optionally for automatically changing head modules. This advantageously achieves that with the folding device according to the invention several different component variants without manual intervention in any and variable order can be edited.
- the shell shape of the folding rollers may be different, in particular cylindrical, conical or spherical.
- the seaming rollers can have areas set off in the lateral surface for the purpose of forming special fold cross sections or for reshaping folded edges.
- the folding tool may comprise a pairing of a conical folding roller and an associated conical counter-roller, wherein between the folding roller and the counter-roller, a gap is formed.
- a folding edge of a workpiece to be processed can be drawn into this gap during folding and folded over in an defined manner around an edge of the folding roller or counter-roller.
- the gap may in this case be designed such that, during folding, a tensile force directed away from the substrate or from the inside of the workpiece is exerted on the seam edge. Due to the tensile force, the material stresses in the region of the folded edge can be influenced and buckling or buckling of the material areas located next to the folded edge of the workpiece can be avoided.
- folding beds are usually adapted and optimized for a specific three-dimensional spatial form of the component to be manufactured, their production is cost-intensive. The omission of such folding beds represents a major economic advantage of the folding device according to the invention.
- the folding device can have a carrying device for one or more folding tools.
- a support device may be formed as a stationary frame to which a folding tool is firmly connected, wherein the support means and the seaming tool together a Make processing station. Relative to this processing station, a workpiece may be guided, for example, by an industrial robot.
- the support device for the folding tool itself may be a multi-axis manipulator such as an industrial robot.
- the folding tool can be moved by the manipulator relative to an example, stationary stationary workpiece.
- the arrangement of the folding tool on a manipulator has the advantage that the folding tool is free to move in space and can be delivered to hard to reach workpiece areas. Even heavy or unwieldy workpieces can be processed more easily.
- the arrangement of a stationary arranged folding tool and a relative thereto moving workpiece has the advantage that the workpiece not only the folding tool, but also other, arranged in the surrounding processing stations can be supplied, whereby a process flow can be optimized in the folding device.
- the folding device may have a folding bed, which may be arranged in the region of a folding edge to be machined under a workpiece.
- the folding bed can be fixed stationary or be arranged on a gripping device of a manipulator and be moved with a workpiece. Supporting a folding or flanging edge can have a positive influence on the quality of processing, especially in the case of so-called visible edges.
- the folding device may further comprise one or more clamping devices by means of which a one- or multi-part workpiece can be fixed on the folding bed.
- the folding device can have one or more further processing stations, such as, for example, an application device or a corner slide.
- the application device can be designed, in particular, as a stationary device for applying an adhesive or sealant to the workpiece.
- the corner slide can be designed for intermediate or reworking of corner areas of a seam geometry and can be stationary as a separate processing station or as a molding on the seaming tool.
- the folding device includes a supporting device for the workpiece in the form of a multi-axis industrial robot.
- One or more folding tools are arranged stationary on a frame and form a processing station.
- the folding tool and a corner slide and an applicator are located in the range of movement of the workpiece guided by the robot.
- a folding device it is advantageously possible to connect folding processing steps and adhesive or sealant application as well as an intermediate or Nachfalzung corner areas in an optimized process.
- a pre-folding of the respective seam edges of a workpiece take place.
- a sealing agent can be introduced into the preformed folded edges.
- the folding device according to the invention in this case can perform different curls and folds with the same folding tool and possibly only by changing a head module.
- the change of such a head module can advantageously be done while a glue or Sealant is introduced into the pre-machined folding edges, whereby the process time can be shortened.
- different workpiece variants or completely different workpieces can be edited in any order even at very low cycle times.
- the folding device allows maximum flexibility.
- the folding device advantageously has a control, which may be preferably connected to the folding tool, a manipulator and one or more processing stations.
- the folding tool, the manipulator and the processing stations are preferably controlled or regulated jointly.
- the controller can be connected to the detection device for folding parameters. In this way, it is advantageously achieved that the respective parts of the folding device can execute coordinated process steps and movements.
- the folding device may further comprise a tuning device, by means of which the rotational speed of the driven folding rollers and the web speed of the relative movement of the seaming tool and seaming edge can be influenced.
- a tuning device by means of which the rotational speed of the driven folding rollers and the web speed of the relative movement of the seaming tool and seaming edge can be influenced.
- the tuning device may advantageously be formed as part of the controller and / or connected to the detection device for folding parameters. The change in the relative velocity can be used as a regulatory intervention to optimize the folding process.
- the invention relates to a folding device (1) and a folding method. It also relates to the components of the folding device (1), in particular a folding tool (2).
- the folding device (1) can be designed in different stages of expansion. It has at least one folding tool (2), which is preferably formed from a base carrier (3) and a tool head (4).
- the seaming tool (2) has at least one rotationally driven folding roller (21, 22) and at least one counter roller (23, 24), which are e.g. is freely rotatably mounted.
- the folding roller (21,22) and the counter-roller (23,24) may be associated with each other and cooperate in the folding process.
- FIG. 1 shows a preferred embodiment of the folding device (1) in a schematic side view.
- the folding device (1) has a folding tool (2) in this embodiment.
- the folding tool (2) is movably arranged on a carrying device (41).
- the carrying device (41) consists of a multi-axis manipulator (6), for example an industrial robot, in particular an articulated-arm robot with six or more axes.
- the manipulator (6) or robot can have a programmable controller in which in particular a trajectory of the manipulator (6) or robot is programmed and stored.
- the folding tool (2) is connected to a manipulator hand (7), which may also be multiaxial and, for example, has two or three axes of rotation. In the region of the connection point, the folding tool (2) can have a connection (15) for connection to the output flange of the robot hand (7), which is designed here as a flange plate.
- the folding device (1) further comprises in the illustrated embodiment, a support means (42) for a one or more parts workpiece (9,10).
- the carrying device (42) is designed as a stationary frame.
- On the frame a folding bed (13) is arranged.
- On the folding bed (13) can in turn rest from one or more components (9,10) formed workpiece and possibly fixed with clamping devices (11).
- the folding tool (2) can be moved by the manipulator (6) relative to the single-part or multi-part workpiece (9, 10).
- the folding device may further comprise a controller (8), which may preferably be connected to the manipulator (6), the folding tool (2) and optionally further processing stations.
- a processing station can be, for example, a prefolding device (12) arranged on the folding bed (13). It is also possible to arrange one or more stationary corner slides (44) on the folding bed (13) or the support means (42) for the workpiece (9,10), wherein the corner slide (44) can be connected to the controller (8) ,
- the folding device (1) is designed to perform folds or crimping on one or more folding or flanged edges (33, 34) of a single-part or multi-part workpiece (9, 10).
- the folding tool (2) preferably has one or more pairings of driven folding rollers (21, 22) and possibly one or more freely rotatable counter rollers (23, 24, 25, 26).
- FIG. 2 shows an upright flanged edge (33) of a component to be folded (9), which is arranged on a folding bed (13).
- a support edge (35) of a further component in this case a support frame (10), is arranged, which essentially comes into contact with the beaded edge (33).
- Such a component configuration consists, for example, in sunroof or Faltdachaus strictly adopted which are incorporated in the roof panel of a vehicle body.
- the vehicle roof is placed on a folding bed (13) as a preformed component (9) from a metal sheet.
- the component (9) has an inside punching or recess in the form of the later sunroof opening. At The inner sides of the recess remain standing substantially transversely to the roof plate standing workpiece edge (33), which serves as a flanged edge.
- a further component (10) in the form of a support frame is placed, which has a workpiece edge (35).
- This edge of the workpiece serves as a support edge (35) around which the crimping edge (33) of the component (9) is to be folded.
- the support edge (35) comes to rest on the side of the folding or flanged edge (33) pointing away from the recess.
- FIGS. 2 to 6 represent how such a flanged edge (33) by means of the folding device (1) of the folding tool (2) in several stages around the support edge (35) can be crimped.
- the Falzö Maschinenswinkel ⁇ of the flanged edge (33) is about 180 °.
- the crimping edge (33) can be folded, for example, to a crimp opening angle ⁇ of approximately 135 °, as shown in FIG FIG. 3 is shown.
- the beaded edge (33) is folded by a driven folding roller (21) along a folded edge (51).
- a lower region of the flanged edge (33) remains as an upright web, which is oriented substantially parallel to the supporting edge (35) resting thereon.
- the first counter-roller (23) can in this case in the lower region of the flanged edge (33) in the direction of the underlying support edge (35) be pressed from the outside and prevent buckling or unwanted deformation of the seaming edge (33) in this area.
- a second counter-roller (25) On the driven folding roller (21) facing away from the flanged edge (33), a second counter-roller (25) may be arranged.
- the counter-roller (25) preferably has two conical or frusto-conical and mutually offset Areas of the lateral surface.
- the second counter-roller (25) can perform a dual function. On the one hand, it can be used for the rear support against the counter-roller (23), wherein the lower portion of the beaded rim (33) and the support edge (35) between the two counter-rollers (23,25) are stretched.
- the upper portion of the flanged edge (33) can be folded in a defined manner from the driven folding roller (21) on the second counter-roller (25). In this way, advantageously, an accurate positioning of the folded edge (51) to be introduced with simultaneous tension of the workpiece parts (9,10) take place.
- the folding tool (2) with the folding rollers (21) and counter rollers (23, 25) arranged thereon move at a web speed (50) along the workpiece edge (33) to be machined. In this way, the folding tool (2) can rotate once around the annular fold edge (33) of the exemplified sliding roof recess.
- the beaded edge (33), as in FIG. 4 are folded from a Falzö Maschinenswinkel ⁇ of 135 ° to a Falzö Maschinenswinkel ⁇ of about 90 °.
- a driven folding roller (21) can fold the folded edge (33) substantially in the direction of the folding bed (13).
- the lower region of the folded edge (33) can in turn be counteracted or pressed against by a counter-roller (23) on the outside in the direction of the supporting edge (35).
- the machining can take place with a specific web speed (50) and in the direction of the substantially annular workpiece edge (33).
- the beading (33) can according to FIG. 5 be folded in a, for example, third processing step to a Falzö Maschinenswinkel of about 45 °.
- the upper region of the seaming edge (33) can be folded around the supporting edge (35) by a driven conical folding roller (22) directed essentially in the direction of the folding bed (13).
- the lower region of the flanged edge (33) can be held by a counter-roller (24) against the underlying support edge (35) and optionally pressed, wherein the folding tool (2) again the example annular workpiece edge (33) with an adjustable web speed (50th ) rotates.
- fourth processing step can according to FIG. 6 a Fertigfalzen the Bördelrandes (33) take place.
- a driven conical folding roller (22) can fold the upper region of the flanged edge (33) to a folding opening angle of substantially 0 ° around the now inner support edge (35).
- the lower region of the flanged edge (33) can be counteracted by a counter-roller (24) and, if necessary, pressed in the direction of the driven folding roller (22) and the support frame (35) lying therebetween.
- the processing can in turn be carried out with a predetermined path speed (50) and by a single revolution of the example annular workpiece edge (33).
- the first two processing steps of the type shown by a pair of a cylindrical driven folding roller (21) and a cylindrical freely rotating counter-roller (23) can be performed.
- a further counter-roller (25) with a substantially stepped double-cone shape can be used in addition to the counter-roller (23).
- the folding roller (21) and the counter roller (23) can be aligned so that they, as in FIG. 3 shown, between their active surfaces form a Falzö Maschinenschenswinkel ⁇ of about 135 °, wherein the axes of rotation of the drive roller (21) and the counter-roller (23) between them enclose an angle ⁇ of about 135 °.
- the same pairing of folding roller (21) and counter-roller (23) can be used, wherein the counter-roller (23) and / or the folding roller (21) are adjusted so that they have a Falzöffungswinkel ⁇ of their active surfaces form about 90 ° and also between the roller axes of the driven folding roller (21) and the counter-roller (23) is formed an angle ⁇ of about 90 °.
- the adjustment of the counter-roller (23) and / or the folding roller (21) can be done after discontinuation of the seaming tool (2) from the workpiece (9,10) or even during the tool engagement and without settling.
- Both processing steps shown can both preferably be carried out by means of a further pairing of a cylindrical folding roller (22) and a cylindrical counter roller (24).
- the seaming roller (22) and the counter-roller (24) can be positioned relative to one another in such a way that a seam opening angle of approximately 45 ° is formed between their active surfaces.
- the angle ⁇ between the roller axes of folding roller (22) and counter roller (24) can be about 90 °.
- the counter-roller (24) and / or the folding roller (22) for the fourth processing step are adjusted to each other such that the active surfaces of the folding roller (22) and the counter-roller (24) are arranged substantially parallel to each other.
- the angle ⁇ between the roller axes may be about 45 °.
- any other forms of folding rollers (21, 22) and counter rollers (23, 24) are possible.
- the lying between the respective roller axes angle ⁇ may be correspondingly different and are dependent on the produced Falzö Stammswinkel ⁇ and the shell geometry of the folding rollers (21,22) and counter-rollers (23,24).
- FIG. 7 shows a further preferred use of the folding device (1), such as an external folding edge (34) of a workpiece (9) from an initial Falzö Maschinenswinkel of about 135 ° to 150 ° (folded edge 34 in dashed lines) to a Falzö Maschinenswinkel of about 90 ° can be folded.
- Such seam geometries occur, for example, in the automotive industry, when the outer edges of sheet-like components, such as bonnets, are folded over.
- Such components (9) for example, after a preforming process in a press on a workpiece edge with a Falzö Maschinenswinkel of about 135 to 150 °, which is folded over with a flat or drop fold inward.
- FIG. 7 shows how the seaming edge (34) of the component (9) is folded in a first processing step by a pairing of a conical folding roller (22) and a conical or optionally double-cone counter-roller (26) to a Falzö Stammswinkel of about 90 °.
- the driven folding roller (22) and the counter-roller (26) can in this case be arranged such that a gap (38) is formed between them.
- a gap (38) is formed between them.
- the folded edge (34) between the driven folding roller (22) and the counter-roller (26) in the gap (38) can be retracted.
- seaming edge (34) a substantially in the cleavage direction and the component (9) directed away tensile force can be generated by which the seaming edge (34) in a defined manner and guided in the gap (38) is held.
- the mechanical stresses in the component (9) in the region of the folded edge (51) can be selectively influenced, whereby a particularly well-defined fold while avoiding bulges or denting in the areas of the component (9) directed away from the fold edge is achieved.
- the component (9) can additionally come into contact with the folding roller (26) in the region facing away from the rebate edge (34) and be supported by it.
- the folding device (1) By means of the folding device (1) according to the invention, it is possible to perform high-quality folding even on visible edges, without the areas of the workpiece (9) remote from the seam edge (34) having to be supported by a folding bed (13). It can therefore be dispensed with a folding bed (13) in this folding step.
- the folding tool (2) of the folding device (1) according to the invention is in FIG. 8 shown in a first preferred embodiment. It has a base support (3) in the form of, for example, a tube-like frame (14) and a head part (4) fixedly or detachably connected thereto.
- the base support (3) may have at its end remote from the folding head (4) a connection (15) for connection to a carrying device (41).
- connection (15) may in this case be designed for attachment to a stationary frame or be present as a flange plate for connection to a manipulator hand (7).
- the connection (15) preferably has one Media execution on. This can also be designed as a so-called. Media coupling and adapted to corresponding elements of a manipulator hand (7). For example, electrical energy, compressed air as well as sensor, control and regulating signals can be conducted through the connection (15) and connected to parts of the folding tool (2) via the media feedthrough.
- one or more drives (16,17) and / or one or more detection devices (36) may be arranged, which are connected to the media feedthrough.
- one or more driven folding rollers (21,22) may be arranged, each of which one or more freely rotating counter-rollers (23,24,25) may be assigned.
- the folding rollers (21, 22) can preferably be mounted displaceably on a respective drive axle (27, 28).
- the drive axle (s) (27, 28) can be oriented transversely or obliquely to the longitudinal axis of the frame (14).
- the folding tool (2) can have an adjusting device (31 ') via which an advancing movement (32) of the driven folding rollers (21, 22) can be effected individually or jointly.
- the feed movement (32) may be e.g. take place along the drive axis (27,28).
- the folding rollers (21, 22) can also be arranged rigidly on the drive axles (27, 28). A delivery of the folding rollers (21,22) relative to the workpiece (9,10) can take place in this case via a relative movement between the workpiece (9,10) and folding tool (2) effected by a support means (41,42).
- the counter-rollers (23,24) are arranged for example on a roller carrier (29).
- the in FIG. 8 illustrated roller carrier is only one possible embodiment.
- the counter-rollers (23,24,25) can over any other forms of own or common roller carriers, for example as a swivel or sliding mechanisms or as a revolver, be mounted on the folding tool (2).
- the roller carrier (29) may itself be firmly connected to the folding tool (2) or as in FIG. 8 represented, slidably arranged.
- the folding tool (2) can also have a plurality of roller carriers (29), which can be mounted on different areas of the folding tool (2) and delivered in different ways.
- the folding tool (2) can have one or more adjusting devices (31) for adjusting the counter-rollers (23, 24, 25, 26).
- the adjusting devices for example, a pivoting movement (30) for adjusting the position of the counter-rollers (23,24,25,26) cause.
- the adjusting devices (31) can be arranged in the tool head (4) or in the base carrier (14) and can have their own drives (17).
- the adjusting devices (31) can also be actuated via external drives.
- an adjustment, in particular a pivoting movement (30) of the counter-rollers (23,24,25,26) in any other way and possibly also manually.
- the adjusting devices (31) or the roller carriers (29) can have devices for mechanical locking of the counter-rollers (23, 24, 25, 26) in specific predefined positions.
- FIG. 9 shows a further preferred embodiment of the folding tool (2) of the folding device (1) according to the invention.
- the folding tool (2) has a modular construction, wherein the head part (4) is designed as a head module (37). If necessary, the head module (4) can be connected to the base support (3) by a quick-release or coupling device (not shown).
- the base support (3) has one or more connections (18,19,20), via which a media and / or Energy provision for the tool head (4) and in particular a head module (37) can take place.
- This may be, for example, a connection (18) in the form of a splined shaft for providing kinetic energy and a connection (19) for providing compressed air or pneumatic energy and a connection (20) for providing electrical energy.
- the head module (37) may have any of a variety of embodiments and may include one or more pairings of a driven seaming roller (21, 22) each having one or more freely rotating counter rollers (23, 24, 25, 26).
- the head module (37) can also have additional driven or free-rotating folding rollers or counter-rollers.
- the drive (16) for the folding rollers (21, 22) can preferably be designed as a controllable or controllable electric motor and arranged in the frame (14) of the basic carrier (3).
- the output energy of the electric motor can be introduced, for example via the terminal (18) in the head module (37) and there possibly via a transmission (not shown) to one or more folding rollers (21,22) forwarded.
- Adjusting devices (31, 31 ') for adjusting counter-rollers (23, 24, 25, 26) and folding rollers (21, 22) can be arranged on the head module (37).
- one or more drives (17) can be arranged in the head module (37).
- the drives (17) can preferably be supplied with electrical or pneumatic energy via terminals (19, 20).
- the folding device (1) may have a detection device (36) for folding parameters, which is designed, for example, for detecting drive energy of the folding rollers (21, 22) and in particular for detecting motor currents of one or more drives (16).
- the detection device (36) can also be designed as a sensor for detecting reaction forces and / or reaction moments.
- the reaction forces and / or reaction moments can be detected directly via a measuring device (not shown) arranged in the folding tool (2) and / or indirectly via other measuring devices such as, for example, force and torque measuring means of a manipulator (6).
- the detection device (36) can be designed independently and be arranged, for example, in the frame (14) of the basic carrier (3). It can also be part of a common control (8) of the folding device (1).
- FIG. 10 a further particularly preferred embodiment of the folding device (1) is shown.
- the folding device (1) has a stationarily arranged folding tool (2), which is arranged on a carrying device (41) and together with the latter forms a folding processing station (40).
- the folding device (1) also has two further processing stations (40) as stationary formed corner slide (44) and stationary arranged applicator (43) for adhesive and / or sealant.
- a multipart workpiece (9, 10) is moved by a carrying device (42) relative to the processing stations (40).
- the carrying device (42) is designed here as a multi-axis manipulator (6) which has a gripping device (47) on a manipulator hand (7).
- a carry-along folding bed (13) can be arranged at the gripping device (47).
- the gripping device (47) can also serve as a tensioning device and fix the components (9, 10) of the workpiece together and on the folding bed (13). However, there may also be separate clamping devices (11).
- the folding device (1) is also provided with a supply (45) and a discharge (46) for components (9, 10) and workpieces, and an assembling station ( 48) arranged for joining components (9,10).
- Components (9, 10) can be supplied individually or jointly from the outside to the folding device (1) via the feed (45) and, where appropriate, joined together in the assembling station (48) to form a multi-part workpiece (9, 10).
- the finished workpiece (9,10) can be removed via the discharge (46).
- the folding device (1) preferably has a control (8), which, for example, in the illustrated embodiment with the support means (42) in the form of a manipulator (6) and the folding tool (2), the corner slide (44) and the applicator (43 ) connected is.
- the folding device (1) may further comprise a tuning device (39) for adjusting the rotational speed (49) or rolling speed of the driven folding rollers (21, 22) on the workpiece (9, 10) and the web speed (50) of the guiding movement of the carrying device (41, 42) ) on.
- the voting device (39) is here part of the controller (8) and connected to a in the folding tool (2) detection device (36).
- the tuning device (39) can be used to influence the rotational speed (49) of the driven folding rollers (21, 22) and the movements of the workpiece (9, 10) guided by the manipulator (6, 10) in such a way that the rotational speed (49) coincides with the path speed (FIG. 50) is synchronized to synchronism.
- the tuner (39) may also produce a targeted speed difference or proportionality between the speed of rotation (49) and the line speed (50).
- the detection device (36) can record parameters of the folding, such as rotational speed (49), drive energy, pressing and guiding force or the like, and ascertain deviations in the folding process caused, for example, by material or production inaccuracies.
- the controller (8) can, for example, intervene regulatively in the folding process by including the signals of the detection device (36) via the tuning device (39).
- the intervention can be effected, for example, by increasing or decreasing the rotational speed (49) of the folding rollers (21, 22) relative to the web speed (50) of the relative movement of folding tool (2) and folding edge (33, 34).
- the guideway programmed and stored in the robot (6) can also be changed.
- the folding tool (2) can have any number of roller pairs, wherein the adjustment and the delivery of the folding rollers (21,22) and counter-rollers (23,24,25,26) can be done in any other way.
- an externally operable adjusting and or pivoting mechanism may be provided, which optionally has a mechanical lock and does not need its own drive (17).
- the number and arrangement of the folding and counter rollers (21 to 26) may vary.
- only a driven folding roller (21) on the tool head (4) may be arranged, which can be delivered via a turret mechanism one or more counter-rollers. It is also possible, as an extension of the folding device (1) to bring other folding tools (2) without driven folding rollers or without counter-rollers.
- processing stations (40) can also be changed. These may be stationary or movable and possibly have their own controls. In addition, it is possible to interchange and combine the features contained in the embodiments shown and in the described embodiments as desired.
- At least one folding roller (21, 22) is assigned a counter roller (23, 24).
- the folding tool (2) can in particular have two folding rollers (21, 22), to each of which at least one counter roller (23, 24, 25, 26) is assigned.
- at least one folding roller (21, 22) may be two or more Be assigned counter-roles (23,25).
- the folding rollers (21, 22) can have different, in particular cylindrical, conical or crowned, shell shapes, in particular with offset lateral surfaces.
- the folding tool (2) can have at least one pairing of a conical folding roller (22) and a conical counter roller (26), wherein a gap (38) is formed between the folding roller (22) and the counter roller (26).
- a folding roller (22) and a counter roller (26) can be arranged relative to one another such that, during folding, a tensile force (F) directed away from a substrate, eg a folding bed (13), acts on the gap (38) between the rollers (22 , 26) located fold edge (34) is exercised.
- the base support (3) has a connection (15) for a stationary arrangement or for a connection to a manipulator (6).
- the connection (15) has a media feedthrough.
- the connection (15) can be designed as a flange plate for connection to a manipulator hand (7) or for attachment to a stationary frame.
- the carrying device (42), in particular a multi-axis manipulator (6) may comprise a gripping device (47) for receiving one-piece or multi-part workpieces (9, 10), e.g. a folding tool (2) on a stationary support means (41) is arranged and forms with this a processing station (40) for relatively movable workpieces (9,10).
- the folding device (1) can have a folding bed (13) with clamping device (11) for one or more workpieces, which may be present several times and which is connected to the carrying device (42) for workpieces (9, 10).
- one or more entrained folding beds (13) can be arranged on the gripping device (47).
- the folding device (1) can have an application device (43), in particular for adhesive or sealing means. It can also have at least one stationary and / or vom Folding tool (2) entrained corner slide (44).
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Abstract
Description
Die Erfindung betrifft eine Falzeinrichtung mit den Merkmalen im Oberbegriff des Hauptanspruchs.The invention relates to a folding device with the features in the preamble of the main claim.
Es ist Aufgabe der vorliegenden Erfindung, eine verbesserte Rollenfalztechnik aufzuzeigen.It is an object of the present invention to provide an improved Rollenfalztechnik.
Die Erfindung löst diese Aufgabe mit den Merkmalen im Hauptanspruch.The invention solves this problem with the features in the main claim.
Die erfindungsgemäße Falzeinrichtung hat den Vorteil, dass sie für unterschiedlichste Falz- und Bördelvorgänge einsetzbar ist. Die Falzeinrichtung kann in einer einfachen Ausführungsform aus einem Falzwerkzeug mit einer Paarung von einer angetriebenen Falzrolle und einer frei drehbaren Gegenrolle bestehen.The folding device according to the invention has the advantage that it can be used for a wide variety of folding and flanging operations. The folding device may consist in a simple embodiment of a folding tool with a pairing of a driven folding roller and a freely rotatable counter-roller.
Während eines Falzvorgangs kann der zu bearbeitende Rand eines Bauteils oder Werkstücks durch die Drehbewegung der angetriebenen Falzrolle in den Bereich zwischen Falzrolle und Gegenrolle eingezogen werden. Dies führt vorteilhafterweise zu einer kontinuierlichen und kontrolliert ausführbaren Falzbearbeitung. Auch an solchen Stellen des Werkstücks, an denen bei der Bearbeitung große Dehnungen des Falzrandes erfolgen müssen oder die nur schwer zugänglich sind, ist eine hohe Fertigungsgüte gewährleistet.During a folding operation, the edge of a component or workpiece to be machined can be retracted by the rotational movement of the driven folding roller into the area between the folding roller and the counter roller. This advantageously leads to a continuous and controlled executable folding processing. Even at those points of the workpiece where large expansions of the fold edge must occur during processing or are difficult to access, a high production quality is guaranteed.
Die Bearbeitung eines Falz- oder Bördelrandes kann ein- oder mehrstufig erfolgen. Hierzu kann das Falzwerkzeug bevorzugt mehrere Paarungen von angetriebenen Falzrollen und in ihrer Lage verstellbaren Gegenrollen aufweisen. Somit können mehrere aufeinander folgende Falzvorgänge mit dem gleichen Werkzeug erfolgen, ohne dass ein Wechsel notwendig wird, was vorteilhafterweise zu sehr geringen Taktzeiten unter Beibehaltung einer großen Einsatzflexibilität der Falzeinrichtung führt. Mit der erfindungsgemäßen Falzeinrichtung können auch unterschiedliche zu bearbeitende Werkstücke mit unterschiedlichen Falz- und/oder Bördelgeometrie in beliebiger Reihenfolge mit dem gleichen Werkzeug bearbeitet werden.The processing of a folding or beading can be done in one or more stages. For this purpose, the folding tool may preferably have several pairs of driven folding rollers and adjustable in their position counter-rollers. Thus, several successive folding operations can be done with the same tool without a change becomes necessary, which advantageously leads to very low cycle times while maintaining a great versatility of the folding device. With the folding device according to the invention also different workpieces to be machined with different folding and / or flare geometry can be edited in any order with the same tool.
In der Automobilindustrie ist es beispielsweise üblich, Fahrzeuge in unterschiedlichen Fertigungsvarianten auf der gleichen Linie zu produzieren, wobei beispielsweise manche Varianten über eine geschlossene Dachform und andere über ein Schiebedach oder ein großflächiges Faltdach verfügen. Die zugehörigen Dachbleche werden bisher in separaten Teilprozessen vorgefertigt, von unterschiedlichen Falzeinrichtungen mit den jeweiligen Falz- oder Bördelrändern versehen und der Hauptlinie zugeführt.In the automotive industry, for example, it is customary to produce vehicles in different production variants on the same line, whereby, for example, some variants have a closed roof shape and others have a sunroof or a large-surface folding roof. The associated roof sheets are previously prefabricated in separate sub-processes, provided by different folding devices with the respective folding or flanged edges and fed to the main line.
Mit der erfindungsgemäßen Falzeinrichtung ist es möglich, derartige Dachbleche unterschiedlicher Varianten direkt auf der Hauptlinie zu falzen. Die Falzungen und Bördelungen können vor oder auch nach Einbau des Dachblechs in die Karosserie erfolgen. Die Dachbleche können beispielsweise in nur einer Falzeinrichtung außenseitig mit einem umlaufenden Falz versehen werden und im Bereich einer innenseitigen Ausstanzungen für Schiebedach oder Faltdach durch Bördeln mit einem entsprechenden Stützrahmen verbunden werden. Mit der erfindungsgemäßen Falzeinrichtung können mehrere unterschiedliche Falzungen und/oder Bördelungen an verschiedenen Werkstückformen mit demselben Falzwerkzeug gefertigt werden. Dies führt zu erheblichen Kosteneinsparungen für die Fertigungsanlage und einer flexiblen Einbindung wechselnder Falzprozesse in den Produktionsablauf. Die Variantenflexibilität kann somit bei gleichzeitiger Kostensenkung erhöht werden.With the folding device according to the invention, it is possible to fold such roof sheets of different variants directly on the main line. The folds and crimps can be done before or after installation of the roof panel in the body. The roof panels can be provided on the outside with a circumferential fold in only one folding device on the outside and be connected in the region of an inside punched out for sunroof or folding roof by crimping with a corresponding support frame. With the folding device according to the invention, a plurality of different folds and / or flanges can be produced on different workpiece shapes with the same folding tool. This leads to significant cost savings for the manufacturing plant and a flexible integration of changing folding processes in the production process. The variant flexibility can thus be increased while reducing costs.
Das Falzwerkzeug der erfindungsgemäßen Falzeinrichtung kann bevorzugt ein oder mehrere steuer- oder regelbare Elektromotoren zum Antreiben der Falzrollen aufweisen. Die Falzeinrichtung kann ferner eine Erfassungseinrichtung für Falzparameter aufweisen, die beispielsweise die Antriebsenergien der Falzrollen insbesondere über die Motorströme in den Antrieben erfasst. Hierdurch können beispielsweise durch Material- und/oder Fertigungsungenauigkeiten hervorgerufene Abweichungen während der Falzbearbeitung erkannt und ggf. regulativ ausgeglichen werden, was zu einer Verbesserung der Prozesskontrolle und einer konstant hohen Fertigungsqualität beiträgt. Auch für die Qualitätssicherung und für andere Zwecke ist die Parametererfassung vorteilhaft.The folding tool of the folding device according to the invention may preferably have one or more controllable or controllable electric motors for driving the folding rollers. The folding device may further comprise a detection device for folding parameters, which detects, for example, the drive energy of the folding rollers in particular via the motor currents in the drives. As a result, deviations caused by material and / or manufacturing inaccuracies, for example, can be detected during folding processing and possibly compensated for in a regulative manner, which contributes to an improvement in process control and a consistently high production quality. Also for quality assurance and for other purposes, the parameter acquisition is advantageous.
Die Erfassungseinrichtung kann auch als Sensorik zur Aufnahme von Reaktionskräften und/oder Reaktionsmomenten im Bereich des Falzwerkzeugs, z.B. des Werkzeugeingriffs ausgebildet sein.The detection device can also be used as a sensor to absorb reaction forces and / or reaction moments in the region of the seaming tool, e.g. be formed of the tool engagement.
Eine besonders bevorzugte Ausführungsform der Falzeinrichtung beinhaltet ein Falzwerkzeug mit einer konischen Falzrolle und einer zylindrischen Falzrolle, denen jeweils mindestens eine zylindrische Gegenrolle zugeordnet ist. Die Gegenrollen sind in ihrer Achse frei drehbar, jedoch in ihrer Lage um eine oder mehrere rotatorische und/oder translatorische Achsen verstellbar angeordnet. Hierbei kann z.B. die Position und/oder die Orientierung der Gegenrolle verstellt werden. Die Gegenrollen können dabei an einem verstellbaren Rollenträger gelagert sein. Durch die Verstellung der Gegenrollen kann der Winkel zwischen den Achsen der angetriebenen Falzrolle und der jeweiligen Gegenrolle verstellbar sein. Hierdurch können mit einer Rollenpaarung mehrere Falzschritte nacheinander ausgeführt werden, wobei der Falzrand auf sukzessiv kleinere Falzöffnungswinkel gefalzt wird.A particularly preferred embodiment of the folding device includes a folding tool with a conical folding roller and a cylindrical folding roller, each of which is assigned at least one cylindrical counter-roller. The counter-rollers are freely rotatable in their axis, but arranged adjustable in their position about one or more rotational and / or translatory axes. In this case, for example, the position and / or the orientation of the counter-roller can be adjusted. The counter-rollers can be mounted on an adjustable roller carrier. By adjusting the counter-rollers, the angle between the axes of the driven folding roller and the respective counter-roller can be adjusted. As a result, multiple folding steps can be performed successively with a pair of rollers, wherein the folded edge is folded to successively smaller Falzöffnungswinkel.
Beispielsweise können mit einer zylindrischen Falzrolle und einer zylindrischen Gegenrolle in einem ersten Schritt ein gerader Falzrand von einem Falzöffnungswinkel von 180° auf etwa 135° und in einem weiteren Schritt von 135° auf etwa 90° gefalzt werden. Die Verstellung der Gegenrolle kann vorteilhafterweise auch während des Werkzeugeingriffs erfolgen. So kann beispielsweise ein umlaufender Falzrand in zwei aufeinander folgenden Falzstufen ohne Absetzen des Falzwerkzeuges erfolgen. Dies führt zu einer Verkürzung der Taktzeiten und zu einer Vermeidung von Fertigungsungenauigkeiten durch das Wiederansetzen des Falzwerkzeuges. Das Verstellen der Gegen- und/oder Falzrollen kann jedoch auch in einer Ruhestellung nach Absetzen des Werkzeuges vom Werkstück erfolgen.For example, in a first step, a straight folding edge can be folded from a fold opening angle of 180 ° to about 135 ° and in a further step from 135 ° to about 90 ° with a cylindrical seaming roller and a cylindrical counter roller. The adjustment of the counter-roller can advantageously also take place during the tool engagement. Thus, for example, a circumferential fold edge can take place in two successive fold stages without discontinuation of the seaming tool. This leads to a shortening of cycle times and to avoid manufacturing inaccuracies by re-starting the seaming tool. However, the adjustment of the counter and / or folding rollers can also be done in a rest position after discontinuation of the tool from the workpiece.
Auch der Rollenträger kann beweglich und bevorzugt verschieblich am Werkzeugkopf gelagert sein. Hierdurch ist es beispielsweise möglich, die Beabstandung der Gegenrolle von der angetriebenen Falzrolle gezielt zu beeinflussen, wodurch das Falzwerkzeug auf einfache Weise an unterschiedliche zu bearbeitende Werkstückdicken oder Falzwinkel angepasst werden kann.Also, the roller carrier can be movably mounted and preferably displaceable on the tool head. This makes it possible, for example, to selectively influence the spacing of the counter roller from the driven seaming roller, whereby the seaming tool can be adapted in a simple manner to different workpiece thicknesses or folding angles to be machined.
Ebenso können die angetriebenen Falzrollen auf der jeweiligen Antriebsachse beweglich gelagert sein. Mittels einer Stelleinrichtung können die Falzrollen gezielt positioniert und zugestellt werden. Zu Beginn eines Falzumlaufs kann beispielsweise das Falzwerkzeug zuerst mit einer Gegenrolle an den zu bearbeitenden Falzrand angelegt werden und sodann der zu bearbeitende Bereich des Falzrandes durch eine Zustellung der angetriebenen Falzrolle angefalzt werden. Hierdurch kann eine ungewollte Verformung der neben dem Falzrand liegenden Materialbereiche vorteilhafterweise minimiert oder gänzlich vermieden werden.Likewise, the driven folding rollers can be movably mounted on the respective drive axle. By means of an adjusting device, the folding rollers can be selectively positioned and delivered. At the beginning of a folding cycle, for example, the folding tool can first be applied with a counter-roller to the fold edge to be processed and then the area to be processed of the seaming edge be folded by a delivery of the driven folding roller. As a result, undesired deformation of the material regions lying next to the fold edge can advantageously be minimized or be avoided altogether.
Weiterhin kann das Falzwerkzeug eine oder mehrere zusätzlich Gegenrollen aufweisen. Diese können beispielsweise in eine solche Lage am zu bearbeitenden Falzrand gebracht werden, dass der in Verformung befindliche Teil des Falzrandes in definierter Weise rückseitig durch eine zweite Gegenrolle unterstützt wird. Gleichzeitig kann der Bereich des Falzrandes, welcher aufrecht stehen bleiben soll, zwischen der ersten und der zweiten Gegenrolle eingespannt werden, wodurch eine ungewollte Verformung dieses eingespannten Bereichs vermieden wird. Hierdurch können vorteilhafterweise stationär angeordnete und auf eine konkrete Falzgeometrie angepasste Spanneinrichtungen entfallen.Furthermore, the folding tool can have one or more additional counter-rollers. These can, for example, be brought into such a position on the seam edge to be processed that the deformed part of the seam edge is supported in a defined manner at the back by a second counter roller. At the same time, the region of the seaming edge which is intended to stand upright can be clamped between the first and second counter-rollers, thereby avoiding undesired deformation of this clamped-in area. This can advantageously account for stationary arranged and adapted to a specific folding geometry clamping devices.
Zwischen erster und zweiter Gegenrolle können beispielsweise auch ein zu bearbeitender Bördelrand eines ersten Bauteils und ein in Anlage gebrachter Stützrand eines dahinter liegenden weiteren Bauteils wie beispielsweise eines Stützrahmens, miteinander für den Werkzeugeingriff lokal fixiert und verspannt werden. Hierdurch kann in vielen Bearbeitungsfällen auf stationäre Spanneinrichtungen verzichtet werden, was zu Vereinfachungen in der Werkstückhandhabung und zu einer Verkürzung der Rüstzeiten führt.For example, a flange edge of a first component to be machined and a supporting edge of a further component lying behind it, such as a support frame, can be locally fixed and clamped together for the tool engagement between the first and second counter rollers. As a result, can be dispensed with stationary clamping devices in many cases, which leads to simplifications in the workpiece handling and to a shortening of set-up times.
Die Falzeinrichtung kann eine oder mehrere Stelleinrichtungen für die Verstellung der Falzrollen und/oder der Gegenrollen aufweisen. Die Stelleinrichtungen können eigene Antriebe aufweisen oder über eine externe Vorrichtung betätigbar sein. Das Falzwerkzeug kann ferner ein oder mehrere Vorrichtungen zur mechanischen Arretierung der Relativposition von Falzrollen und Gegenrollen aufweisen. Die Arretierungsvorrichtungen können vorteilhafterweise Teil der Stelleinrichtungen und mit diesen am Grundträger oder am Werkzeugkopf des Falzwerkzeugs angeordnet sein. Die Arretiereinrichtungen können jedoch auch Teil eines Rollenträgers sein.The folding device may have one or more adjusting devices for the adjustment of the folding rollers and / or the counter-rollers. The adjusting devices may have their own drives or be actuated via an external device. The folding tool may further comprise one or more devices for mechanically locking the relative position of folding rollers and counter-rollers. The locking devices can advantageously part of the adjusting devices and with these on the base support or on the tool head of the Folding tool be arranged. However, the locking devices can also be part of a roller carrier.
In einer besonders bevorzugten Ausgestaltung der Falzeinrichtung weist das Falzwerkzeug einen modularen Aufbau aus einem Grundträger und einem als austauschbares Kopfmodul gebildeten Werkzeugkopf auf. Der Grundträger kann hierbei ein oder mehrere Anschlüsse zur Medien- und/oder Energiebereitstellung für den Werkzeugkopf aufweisen und mit diesem modular verbindbar sein.In a particularly preferred embodiment of the folding device, the folding tool has a modular construction of a base support and a tool head formed as an exchangeable head module. The base support can in this case have one or more connections for media and / or energy supply for the tool head and be connected to this modular.
Ein solches Falzwerkzeug kann mehrere für den jeweiligen Einsatzzweck optimierte Kopfmodule haben, die bedarfsweise gewechselt werden können. Durch den modularen Aufbau können die Antriebe für die Falzrollen und/oder die Stelleinrichtungen je nach Bedarf im Grundträger oder Werkzeugkopf angeordnet sein. Bei einer bevorzugten Ausführungsform kann beispielsweise ein leistungsstarker und vergleichsweise großer Elektromotor als Antrieb für die Falzrollen im Grundträger angeordnet sein, welcher über eine Welle-Nabe-Verbindung mit dem Kopfmodul und dort beispielsweise über ein Getriebe mit ein oder mehreren Falzrollen verbunden ist. Zwei weitere vergleichsweise leistungsschwache Antriebe können beispielsweise zur Bestätigung der Stelleinrichtungen für die Verschiebung der Falzrollen und für die Verstellung der Gegenrollen als Hydraulikzylinder im Kopfmodul angeordnet sein.Such a folding tool can have several optimized for the particular purpose head modules that can be changed as needed. Due to the modular structure, the drives for the folding rollers and / or the adjusting devices can be arranged as required in the base carrier or tool head. In a preferred embodiment, for example, a powerful and comparatively large electric motor can be arranged as a drive for the folding rollers in the base carrier, which is connected via a shaft-hub connection with the head module and there, for example via a transmission with one or more folding rollers. Two more comparatively low-power drives can be arranged, for example, to confirm the adjusting devices for the displacement of the folding rollers and for the adjustment of the counter-rollers as a hydraulic cylinder in the head module.
Durch den modularen Aufbau des Falzwerkzeuges ist dieses schnell für eine Vielzahl von Falzvorgängen anpassbar und kann in seinem Funktionsumfang erweitert werden. Die Falzeinrichtung kann ein oder mehrere Magazine zur Bereitstellung und gegebenenfalls zum automatischen Wechsel von Kopfmodulen aufweisen. Hierdurch wird vorteilhafter Weise erreicht, dass mit der erfindungsgemäßen Falzeinrichtung mehrere unterschiedliche Bauteilvarianten ohne manuellen Eingriff in beliebiger und veränderlicher Reihenfolge bearbeitet werden können.Due to the modular design of the folding tool this is quickly adaptable to a variety of folding operations and can be extended in its scope of functions. The folding device can have one or more magazines for providing and optionally for automatically changing head modules. This advantageously achieves that with the folding device according to the invention several different component variants without manual intervention in any and variable order can be edited.
Die Mantelform der Falzrollen kann unterschiedlich, insbesondere zylindrisch, konisch oder ballig ausgebildet sein. Die Falzrollen können in der Mantelfläche abgesetzte Bereiche zur Formung von speziellen Falzquerschnitten oder zur Nachformung von Falzkanten aufweisen.The shell shape of the folding rollers may be different, in particular cylindrical, conical or spherical. The seaming rollers can have areas set off in the lateral surface for the purpose of forming special fold cross sections or for reshaping folded edges.
In einer weiteren bevorzugten Ausführungsform kann das Falzwerkzeug eine Paarung aus einer konischen Falzrolle und einer zugeordneten konischen Gegenrolle aufweisen, wobei zwischen der Falzrolle und der Gegenrolle ein Spalt gebildet wird. Ein zu bearbeitender Falzrand eines Werkstückes kann während des Falzens in diesen Spalt eingezogen und um eine Kante der Falzrolle oder der Gegenrolle in definierter Weise umgefalzt werden. Der Spalt kann hierbei derart ausgebildet sein, dass während des Falzens eine vom Untergrund bzw. von der Innenseite des Werkstücks weggerichtete Zugkraft auf den Falzrand ausgewirkt wird. Durch die Zugkraft können die Materialspannungen im Bereich der Falzkante beeinflusst und ein Aus- oder Einbeulen der zur Werkstückinnenseite neben der Falzkante gelegenen Materialbereiche vermieden werden. Hierdurch kann vorteilhafterweise auf Spanneinrichtungen und insbesondere auf ein Falzbett verzichtet werden. Da Falzbetten üblicherweise auf eine bestimmte dreidimensionale Raumform des zu fertigenden Bauteils angepasst und optimiert sind, ist deren Herstellung kostenintensiv. Der Wegfall von solchen Falzbetten stellt einen großen wirtschaftlichen Vorteil der erfindungsgemäßen Falzeinrichtung dar.In a further preferred embodiment, the folding tool may comprise a pairing of a conical folding roller and an associated conical counter-roller, wherein between the folding roller and the counter-roller, a gap is formed. A folding edge of a workpiece to be processed can be drawn into this gap during folding and folded over in an defined manner around an edge of the folding roller or counter-roller. The gap may in this case be designed such that, during folding, a tensile force directed away from the substrate or from the inside of the workpiece is exerted on the seam edge. Due to the tensile force, the material stresses in the region of the folded edge can be influenced and buckling or buckling of the material areas located next to the folded edge of the workpiece can be avoided. This can advantageously be dispensed with clamping devices and in particular on a folding bed. Since folding beds are usually adapted and optimized for a specific three-dimensional spatial form of the component to be manufactured, their production is cost-intensive. The omission of such folding beds represents a major economic advantage of the folding device according to the invention.
Die Falzeinrichtung kann eine Trageinrichtung für ein oder mehrere Falzwerkzeuge aufweisen. Eine solche Trageinrichtung kann als stationäres Gestell ausgebildet sein, an dem ein Falzwerkzeug fest verbunden ist, wobei die Trageinrichtung und das Falzwerkzeug gemeinsam eine Bearbeitungsstation bilden. Relativ zu dieser Bearbeitungsstation kann ein Werkstück beispielsweise von einem Industrieroboter geführt sein.The folding device can have a carrying device for one or more folding tools. Such a support device may be formed as a stationary frame to which a folding tool is firmly connected, wherein the support means and the seaming tool together a Make processing station. Relative to this processing station, a workpiece may be guided, for example, by an industrial robot.
Alternativ kann die Trageinrichtung für das Falzwerkzeug selbst ein mehrachsiger Manipulator wie beispielsweise ein Industrieroboter sein. Hierbei kann das Falzwerkzeug von dem Manipulator relativ zu einem beispielsweise stationär angeordneten Werkstück bewegt werden.Alternatively, the support device for the folding tool itself may be a multi-axis manipulator such as an industrial robot. In this case, the folding tool can be moved by the manipulator relative to an example, stationary stationary workpiece.
Die Anordnung des Falzwerkzeugs an einem Manipulator hat den Vorteil, dass das Falzwerkzeug frei im Raum beweglich ist und auch an schwer zugängliche Werkstückbereiche zugestellt werden kann. Auch schwere oder unhandliche Werkstücke können so leichter bearbeitet werden.The arrangement of the folding tool on a manipulator has the advantage that the folding tool is free to move in space and can be delivered to hard to reach workpiece areas. Even heavy or unwieldy workpieces can be processed more easily.
Die Anordnung aus einem stationär angeordneten Falzwerkzeug und einem relativ dazu bewegten Werkstück hat hingegen den Vorteil, dass das Werkstück nicht nur dem Falzwerkzeug, sondern auch anderen, im Umfeld angeordneten Bearbeitungsstationen zugeführt werden kann, wodurch ein Prozessablauf in der Falzeinrichtung optimiert werden kann.The arrangement of a stationary arranged folding tool and a relative thereto moving workpiece, however, has the advantage that the workpiece not only the folding tool, but also other, arranged in the surrounding processing stations can be supplied, whereby a process flow can be optimized in the folding device.
Die Falzeinrichtung kann ein Falzbett aufweisen, das im Bereich einer zu bearbeitenden Falzkante unter einem Werkstück angeordnet sein kann. Das Falzbett kann stationär befestigt sein oder an einer Greifeinrichtung eines Manipulators angeordnet sein und mit einem Werkstück mitbewegt werden. Eine Unterstützung einer Falz- oder Bördelkante kann insbesondere bei sog. Sichtkanten die Bearbeitungsqualität positiv beeinflussen. Die Falzeinrichtung kann ferner ein oder mehrere Spanneinrichtungen aufweisen, mittels derer ein ein- oder mehrteiliges Werkstück auf dem Falzbett fixiert werden kann.The folding device may have a folding bed, which may be arranged in the region of a folding edge to be machined under a workpiece. The folding bed can be fixed stationary or be arranged on a gripping device of a manipulator and be moved with a workpiece. Supporting a folding or flanging edge can have a positive influence on the quality of processing, especially in the case of so-called visible edges. The folding device may further comprise one or more clamping devices by means of which a one- or multi-part workpiece can be fixed on the folding bed.
Die Falzeinrichtung kann eine oder mehrere weitere Bearbeitungsstationen wie beispielsweise eine Auftragvorrichtung oder einen Eckenschieber aufweisen. Die Auftragvorrichtung kann insbesondere als stationäre Vorrichtung zum Auftragen von einem Klebe- oder Dichtmittel auf das Werkstück ausgebildet sein. Der Eckenschieber kann zum Zwischen- oder Nachbearbeiten von Eckbereichen einer Falzgeometrie ausgebildet sein und stationär als eigene Bearbeitungsstation oder als Anformung an das Falzwerkzeug vorliegen.The folding device can have one or more further processing stations, such as, for example, an application device or a corner slide. The application device can be designed, in particular, as a stationary device for applying an adhesive or sealant to the workpiece. The corner slide can be designed for intermediate or reworking of corner areas of a seam geometry and can be stationary as a separate processing station or as a molding on the seaming tool.
In einer besonders bevorzugten Ausführungsform der Erfindung beinhaltet die Falzeinrichtung eine Trageinrichtung für das Werkstück in Form eines mehrachsigen Industrieroboters. Ein oder mehrere Falzwerkzeuge sind stationär an einem Gestell angeordnet und bilden eine Bearbeitungsstation. Das Falzwerkzeug sowie ein Eckenschieber und eine Auftragvorrichtung befinden sich im Bewegungsbereich des vom Roboter geführten Werkstücks.In a particularly preferred embodiment of the invention, the folding device includes a supporting device for the workpiece in the form of a multi-axis industrial robot. One or more folding tools are arranged stationary on a frame and form a processing station. The folding tool and a corner slide and an applicator are located in the range of movement of the workpiece guided by the robot.
In einer solchen Falzeinrichtung ist es vorteilhafterweise möglich, Falzbearbeitungsschritte und Klebe- oder Dichtmittelauftrag sowie eine Zwischen- oder Nachfalzung von Eckbereichen in einem optimierten Prozess zu verbinden. So kann beispielsweise in einem ersten Schritt ein Vorfalzen der jeweiligen Falzränder eines Werkstücks erfolgen. In einem weiteren Schritt kann in die vorgeformten Falzkanten ein Dichtmittel eingebracht werden. Anschließend kann das ggf. mehrstufige Fertigfalzen erfolgen.In such a folding device, it is advantageously possible to connect folding processing steps and adhesive or sealant application as well as an intermediate or Nachfalzung corner areas in an optimized process. Thus, for example, in a first step, a pre-folding of the respective seam edges of a workpiece take place. In a further step, a sealing agent can be introduced into the preformed folded edges. Subsequently, if necessary, multi-stage Fertigfalzen done.
Mit der erfindungsgemäßen Falzeinrichtung lassen sich hierbei unterschiedliche Bördelungen und Falzungen mit dem gleichen Falzwerkzeug und ggf. nur unter Wechsel eines Kopfmoduls ausführen. Der Wechsel eines solchen Kopfmoduls kann vorteilhafterweise erfolgen, während ein Klebe- oder Dichtmittel in die vorbearbeiteten Falzkanten eingebracht wird, wodurch die Prozesszeit verkürzt werden kann. In der genannten Ausführungsform der Falzeinrichtung können auch bei sehr geringen Taktzeiten unterschiedliche Werkstückvarianten oder gänzlich verschiedene Werkstücke in beliebiger Reihenfolge bearbeitet werden. Somit ermöglicht die Falzeinrichtung ein Höchstmaß an Flexibilität.With the folding device according to the invention in this case can perform different curls and folds with the same folding tool and possibly only by changing a head module. The change of such a head module can advantageously be done while a glue or Sealant is introduced into the pre-machined folding edges, whereby the process time can be shortened. In the aforementioned embodiment of the folding device different workpiece variants or completely different workpieces can be edited in any order even at very low cycle times. Thus, the folding device allows maximum flexibility.
Die Falzeinrichtung weist vorteilhafterweise eine Steuerung auf, die bevorzugt mit dem Falzwerkzeug, einem Manipulator sowie ein oder mehreren Bearbeitungsstationen verbunden sein kann. Das Falzwerkzeug, der Manipulator und die Bearbeitungsstationen werden bevorzugt gemeinsam gesteuert oder geregelt. Die Steuerung kann hierbei mit der Erfassungseinrichtung für Falzparameter verbunden sein. Hierdurch wird vorteilhafter Weise erreicht, dass die jeweiligen Teile der Falzeinrichtung aufeinander abgestimmte Prozessschritte und Bewegungen ausführen können.The folding device advantageously has a control, which may be preferably connected to the folding tool, a manipulator and one or more processing stations. The folding tool, the manipulator and the processing stations are preferably controlled or regulated jointly. In this case, the controller can be connected to the detection device for folding parameters. In this way, it is advantageously achieved that the respective parts of the folding device can execute coordinated process steps and movements.
Die Falzeinrichtung kann ferner eine Abstimmungseinrichtung aufweisen, mittels welcher die Drehgeschwindigkeit der angetriebenen Falzrollen und die Bahngeschwindigkeit der Relativbewegung von Falzwerkzeug und Falzrand beeinflussbar ist. Je nach Ausbildung des zu bearbeitenden Werkstückes kann es vorteilhaft sein, die Dreh- und Wälzgeschwindigkeit der Falzrollen und die Bahngeschwindigkeit zu synchronisieren oder gezielt eine Geschwindigkeitsdifferenz einzustellen. Die Abstimmungseinrichtung kann hierbei vorteilhafterweise als Teil der Steuerung ausgebildet und/oder mit der Erfassungseinrichtung für Falzparameter verbunden sein. Die Veränderung der Relativgeschwindigkeit kann als regulativer Eingriff zur Optimierung des Falzvorganges genutzt sein.The folding device may further comprise a tuning device, by means of which the rotational speed of the driven folding rollers and the web speed of the relative movement of the seaming tool and seaming edge can be influenced. Depending on the design of the workpiece to be machined, it may be advantageous to synchronize the rotational and rolling speed of the folding rollers and the web speed or to set a targeted speed difference. The tuning device may advantageously be formed as part of the controller and / or connected to the detection device for folding parameters. The change in the relative velocity can be used as a regulatory intervention to optimize the folding process.
Die Erfindung ist in den Zeichnungen beispielsweise und schematisch dargestellt. Es zeigen:
- Figur 1:
- Eine schematische Darstellung einer Falzeinrichtung in Seitenansicht,
Figuren 2 bis 7:- teilweise geschnittene Darstellungen eines Falzrandes unter Eingriff eines Falzwerkzeugs,
- Figur 8:
- eine erste Ausführungsform eines Falzwerkzeugs,
- Figur 9:
- eine weitere Ausführungsform eines Falzwerkzeugs,
- Figur 10:
- eine Draufsicht auf eine Falzeinrichtung.
- FIG. 1:
- A schematic representation of a folding device in side view,
- FIGS. 2 to 7:
- partially cut representations of a seaming edge under the intervention of a seaming tool,
- FIG. 8:
- a first embodiment of a folding tool,
- FIG. 9:
- another embodiment of a folding tool,
- FIG. 10:
- a plan view of a folding device.
Die Erfindung betrifft eine Falzeinrichtung (1) und ein Falzverfahren. Sie betrifft auch die Komponenten der Falzeinrichtung (1), insbesondere ein Falzwerkzeug (2).The invention relates to a folding device (1) and a folding method. It also relates to the components of the folding device (1), in particular a folding tool (2).
Die erfindungsgemäße Falzeinrichtung (1) kann in unterschiedlichen Ausbaustufen ausgebildet sein. Sie weist mindestens ein Falzwerkzeug (2) auf, welches bevorzugt aus einem Grundträger (3) und einem Werkzeugkopf (4) gebildet ist. Das Falzwerkzeug (2) hat mindestens eine drehend angetriebene Falzrolle (21,22) und mindestens eine Gegenrolle (23,24), die z.B. frei drehbar gelagert ist. Die Falzrolle (21,22) und die Gegenrolle (23,24) können einander zugeordnet sein und beim Falzprozess zusammenwirken.The folding device (1) according to the invention can be designed in different stages of expansion. It has at least one folding tool (2), which is preferably formed from a base carrier (3) and a tool head (4). The seaming tool (2) has at least one rotationally driven folding roller (21, 22) and at least one counter roller (23, 24), which are e.g. is freely rotatably mounted. The folding roller (21,22) and the counter-roller (23,24) may be associated with each other and cooperate in the folding process.
Bei einer mehrfachen Rollenanordnung können die Falzrollen (21,22), ggf. mit ihrer zugehörigen Gegenrolle (23,24), an verschiedenen Seiten des Falzwerkzeugs (2), insbesondere des Werkzeugkopfs (4), angeordnet sein. Sie können insbesondere an diametral einander gegenüber liegenden Seiten oder auch über Eck angeordnet sein.In a multiple roller arrangement, the folding rollers (21,22), possibly with their associated counter-roller (23,24), on different sides of the folding tool (2), in particular of the tool head (4), be arranged. They can be arranged in particular on diametrically opposite sides or also over the corner.
Die Falzeinrichtung (1) weist ferner in der dargestellten Ausführungsform eine Trageinrichtung (42) für ein ein- oder mehrteiliges Werkstück (9,10) auf. Die Trageinrichtung (42) ist als stationäres Gestell ausgebildet. Auf dem Gestell ist ein Falzbett (13) angeordnet. Auf dem Falzbett (13) kann ein wiederum aus ein oder mehreren Bauteilen (9,10) gebildetes Werkstück aufliegen und ggf. mit Spanneinrichtungen (11) fixiert sein. Das Falzwerkzeug (2) kann durch den Manipulator (6) relativ zum ein- oder mehrteiligen Werkstück (9,10) bewegt werden.The folding device (1) further comprises in the illustrated embodiment, a support means (42) for a one or more parts workpiece (9,10). The carrying device (42) is designed as a stationary frame. On the frame a folding bed (13) is arranged. On the folding bed (13) can in turn rest from one or more components (9,10) formed workpiece and possibly fixed with clamping devices (11). The folding tool (2) can be moved by the manipulator (6) relative to the single-part or multi-part workpiece (9, 10).
Gemäß
Die Falzeinrichtung (1) ist dazu ausgebildet, Falzungen oder Bördelungen an ein oder mehreren Falz- oder Bördelrändern (33,34) eines ein- oder mehrteiligen Werkstückes (9,10) durchzuführen. Hierzu weist das Falzwerkzeug (2) bevorzugt eine oder mehrere Paarungen von angetriebenen Falzrollen (21,22) und ggf. einer oder mehreren frei drehbaren Gegenrollen (23,24,25,26) auf.The folding device (1) is designed to perform folds or crimping on one or more folding or flanged edges (33, 34) of a single-part or multi-part workpiece (9, 10). For this purpose, the folding tool (2) preferably has one or more pairings of driven folding rollers (21, 22) and possibly one or more freely rotatable counter rollers (23, 24, 25, 26).
In den
Eine derartige Bauteilkonfiguration besteht beispielsweise bei Schiebedach- oder Faltdachausnehmungen, die in das Dachblech einer Fahrzeugkarosserie eingearbeitet werden. Hierbei wird das Fahrzeugdach als aus einem Blech vorgeformtes Bauteil (9) auf ein Falzbett (13) aufgelegt. Das Bauteil (9) weist eine innenseitige Ausstanzung oder Ausnehmung in Form der späteren Schiebedachöffnung auf. An den Innenseiten der Ausnehmung bleibt ein im wesentlichen quer zum Dachblech stehender Werkstückrand (33) stehen, der als Bördelrand dient. An der zur Fahrzeuginnenseite gerichteten Seite des Bauteils (9) wird ein weiteres Bauteil (10) in Form eines Stützrahmens aufgelegt, welches einen Werkstückrand (35) aufweist. Dieser Werkstückrand dient als Stützrand (35), um den der Bördelrand (33) des Bauteils (9) herumgefalzt werden soll. Der Stützrand (35) kommt an der von der Ausnehmung wegweisenden Seite des Falz- oder Bördelrands (33) zur Anlage.Such a component configuration consists, for example, in sunroof or Faltdachausnehmungen which are incorporated in the roof panel of a vehicle body. In this case, the vehicle roof is placed on a folding bed (13) as a preformed component (9) from a metal sheet. The component (9) has an inside punching or recess in the form of the later sunroof opening. At The inner sides of the recess remain standing substantially transversely to the roof plate standing workpiece edge (33), which serves as a flanged edge. On the side of the component (9) directed towards the vehicle interior, a further component (10) in the form of a support frame is placed, which has a workpiece edge (35). This edge of the workpiece serves as a support edge (35) around which the crimping edge (33) of the component (9) is to be folded. The support edge (35) comes to rest on the side of the folding or flanged edge (33) pointing away from the recess.
Die
In der Ausgangsstellung von
Hierbei wird der Bördelrand (33) durch eine angetriebene Falzrolle (21) entlang einer Falzkante (51) gefalzt. Unterhalb der Falzkante (51) bleibt ein unterer Bereich des Bördelrandes (33) als aufrechter Steg bestehen, der im wesentlichen parallel zum daran anliegenden Stützrand (35) orientiert ist. Die erste Gegenrolle (23) kann hierbei in jenem unteren Bereich des Bördelrands (33) in Richtung des dahinterliegenden Stützrandes (35) von außen anpresst sein und ein Ausbeulen oder ungewolltes Verformen des Falzrandes (33) in diesen Bereich verhindern.Here, the beaded edge (33) is folded by a driven folding roller (21) along a folded edge (51). Below the folded edge (51), a lower region of the flanged edge (33) remains as an upright web, which is oriented substantially parallel to the supporting edge (35) resting thereon. The first counter-roller (23) can in this case in the lower region of the flanged edge (33) in the direction of the underlying support edge (35) be pressed from the outside and prevent buckling or unwanted deformation of the seaming edge (33) in this area.
Auf der der angetriebenen Falzrolle (21) abgewandten Seite des Bördelrandes (33) kann eine zweite Gegenrolle (25) angeordnet sein. Die Gegenrolle (25) weist bevorzugt zwei konische oder kegelstumpfförmige und zueinander abgesetzte Bereiche der Mantelfläche auf. Während eines Falzvorganges kann die zweite Gegenrolle (25) eine Doppelfunktion wahrnehmen. Zum einen kann sie zur rückseitigen Abstützung gegen die Gegenrolle (23) dienen, wobei der untere Bereich des Bördelrandes (33) und der Stützrand (35) zwischen den beiden Gegenrollen (23,25) gespannt werden. Andererseits kann der obere Bereich des Bördelrandes (33) in definierter Weise von der angetriebenen Falzrolle (21) auf die zweite Gegenrolle (25) aufgefalzt werden. Hierdurch kann vorteilhafter Weise eine genaue Positionierung der einzubringenden Falzkante (51) mit gleichzeitiger Spannung der Werkstückteile (9,10) erfolgen.On the driven folding roller (21) facing away from the flanged edge (33), a second counter-roller (25) may be arranged. The counter-roller (25) preferably has two conical or frusto-conical and mutually offset Areas of the lateral surface. During a folding process, the second counter-roller (25) can perform a dual function. On the one hand, it can be used for the rear support against the counter-roller (23), wherein the lower portion of the beaded rim (33) and the support edge (35) between the two counter-rollers (23,25) are stretched. On the other hand, the upper portion of the flanged edge (33) can be folded in a defined manner from the driven folding roller (21) on the second counter-roller (25). In this way, advantageously, an accurate positioning of the folded edge (51) to be introduced with simultaneous tension of the workpiece parts (9,10) take place.
Während eines Falzvorgangs bewegen sich das Falzwerkzeug (2) mit den daran angeordneten Falzrollen (21) und Gegenrollen (23,25) mit einer Bahngeschwindigkeit (50) entlang des zu bearbeitenden Werkstückrandes (33). Auf diese Weise kann das Falzwerkzeug (2) den ringförmigen Falzrand (33) der beispielhaft genannten Schiebedachausnehmung ein Mal umlaufen.During a folding operation, the folding tool (2) with the folding rollers (21) and counter rollers (23, 25) arranged thereon move at a web speed (50) along the workpiece edge (33) to be machined. In this way, the folding tool (2) can rotate once around the annular fold edge (33) of the exemplified sliding roof recess.
In einem weiteren, beispielweise zweiten Bearbeitungsschritt kann der Bördelrand (33), wie in
Der Bördelrand (33) kann gemäß
In einem beispielsweise vierten Bearbeitungsschritt kann gemäß
In einer bevorzugten Ausführungsform der erfindungsgemäßen Falzeinrichtung können die ersten beiden Bearbeitungsschritte der gezeigten Art durch eine Paarung aus einer zylindrischen angetriebenen Falzrolle (21) und einer zylindrischen frei drehenden Gegenrolle (23) ausgeführt werden. Für den ersten Bearbeitungsschritt kann eine weitere Gegenrolle (25) mit im wesentlichen abgesetzter Doppelkegelform zusätzlich zur Gegenrolle (23) eingesetzt werden. Die Falzrolle (21) und die Gegenrolle (23) können derart ausgerichtet werden, dass sie, wie in
Für die Durchführung des zweiten Bearbeitungsschrittes kann die gleiche Paarung von Falzrolle (21) und Gegenrolle (23) genutzt sein, wobei die Gegenrolle (23) und/oder die Falzrolle (21) derart verstellt werden, dass sie zwischen ihren Wirkflächen einen Falzöffnungswinkel α von etwa 90° formen und auch zwischen den Rollenachsen der angetriebenen Falzrolle (21) und der Gegenrolle (23) ein Winkel β von etwa 90° gebildet wird.For the implementation of the second processing step, the same pairing of folding roller (21) and counter-roller (23) can be used, wherein the counter-roller (23) and / or the folding roller (21) are adjusted so that they have a Falzöffungswinkel α of their active surfaces form about 90 ° and also between the roller axes of the driven folding roller (21) and the counter-roller (23) is formed an angle β of about 90 °.
Die Verstellung der Gegenrolle (23) und oder der Falzrolle (21) kann nach Absetzen des Falzwerkzeugs (2) vom Werkstück (9,10) erfolgen oder auch während des Werkzeugeingriffs und ohne Absetzen.The adjustment of the counter-roller (23) and / or the folding roller (21) can be done after discontinuation of the seaming tool (2) from the workpiece (9,10) or even during the tool engagement and without settling.
Die in
Wie in
Neben den gezeigten Paarungen einer zylindrischen Falzrolle (21) sowie einer kegeligen Falzrolle (22) mit jeweils einer zylindrischen Gegenrolle (23,24) sind auch beliebige andere Formen von Falzrollen (21,22) und Gegenrollen (23,24) möglich. Die zwischen den jeweiligen Rollenachsen liegenden Winkel β können entsprechend anders sein und sind von dem herzustellenden Falzöffnungswinkel α und der Mantelgeometrie der Falzrollen (21,22) und Gegenrollen (23,24) abhängig.In addition to the pairings of a cylindrical folding roller (21) and a conical folding roller (22) each having a cylindrical counter roller (23, 24), any other forms of folding rollers (21, 22) and counter rollers (23, 24) are possible. The lying between the respective roller axes angle β may be correspondingly different and are dependent on the produced Falzöffnungswinkel α and the shell geometry of the folding rollers (21,22) and counter-rollers (23,24).
Die Bearbeitung eines solchen Falzrandes (34) kann wiederum mehrstufig erfolgen.
Die angetriebene Falzrolle (22) und die Gegenrolle (26) können hierbei derart angeordnet sein, dass zwischen ihnen ein Spalt (38) gebildet wird. Während eines Falzvorganges kann der Falzrand (34) zwischen der angetriebenen Falzrolle (22) und der Gegenrolle (26) in den Spalt (38) eingezogen werden. Hierbei kann auf den im Spalt (38) befindlichen Falzrand (34) eine im wesentlichen in Spaltrichtung und vom Bauteil (9) weggerichtete Zugkraft erzeugt sein, durch welche der Falzrand (34) in definierter Weise und kraftgeführt im Spalt (38) gehalten wird. Hierdurch können die mechanischen Spannungen im Bauteil (9) im Bereich der Falzkante (51) gezielt beeinflusst werden, wodurch eine besonders wohldefinierte Falzung unter Vermeidung von Aus- oder Einbeulungen in den von der Falzkante weggerichteten Bereichen des Bauteils (9) erreicht wird. Je nach Ausführung der Gegenrolle (26) kann das Bauteil (9) in dem vom Falzrand (34) wegweisenden Bereich zusätzlich an der Falzrolle (26) in Anlage kommen und von dieser unterstützt werden.The driven folding roller (22) and the counter-roller (26) can in this case be arranged such that a gap (38) is formed between them. During a folding process the folded edge (34) between the driven folding roller (22) and the counter-roller (26) in the gap (38) can be retracted. Here, on the in the gap (38) located seaming edge (34) a substantially in the cleavage direction and the component (9) directed away tensile force can be generated by which the seaming edge (34) in a defined manner and guided in the gap (38) is held. In this way, the mechanical stresses in the component (9) in the region of the folded edge (51) can be selectively influenced, whereby a particularly well-defined fold while avoiding bulges or denting in the areas of the component (9) directed away from the fold edge is achieved. Depending on the design of the counter-roller (26), the component (9) can additionally come into contact with the folding roller (26) in the region facing away from the rebate edge (34) and be supported by it.
Durch die erfindungsgemäße Falzeinrichtung (1) ist es möglich, auch an Sichtkanten qualitativ hochwertige Falzungen vorzunehmen, ohne dass die dem Falzrand (34) abgelegenen Bereiche des Werkstücks (9) durch ein Falzbett (13) unterstützt werden müssten. Es kann also auf ein Falzbett (13) bei diesem Falzschritt verzichtet werden.By means of the folding device (1) according to the invention, it is possible to perform high-quality folding even on visible edges, without the areas of the workpiece (9) remote from the seam edge (34) having to be supported by a folding bed (13). It can therefore be dispensed with a folding bed (13) in this folding step.
Das Falzwerkzeug (2) der erfindungsgemäßen Falzeinrichtung (1) ist in
Der Anschluss (15) kann hierbei zur Befestigung an ein stationäres Gestell ausgebildet sein oder als Flanschplatte zur Anbindung an eine Manipulatorhand (7) vorliegen. Der Anschluss (15) weist bevorzugt eine Mediendurchführung auf. Diese kann auch als sog. Medien-Kupplung ausgebildet und an entsprechende Elemente einer Manipulatorhand (7) angepasst sein. Über die Mediendurchführung können beispielsweise elektrische Energie, Druckluft sowie Sensor-, Steuer- und Regelsignale durch den Anschluss (15) geleitet und mit Teilen des Falzwerkzeugs (2) verbunden werden. Im oder am Gestell (14) des Grundkörpers (3) können beispielsweise ein oder mehrere Antriebe (16,17) und/oder ein oder mehrere Erfassungseinrichtungen (36) angeordnet sein, die mit der Mediendurchführung verbunden sind.The connection (15) may in this case be designed for attachment to a stationary frame or be present as a flange plate for connection to a manipulator hand (7). The connection (15) preferably has one Media execution on. This can also be designed as a so-called. Media coupling and adapted to corresponding elements of a manipulator hand (7). For example, electrical energy, compressed air as well as sensor, control and regulating signals can be conducted through the connection (15) and connected to parts of the folding tool (2) via the media feedthrough. In or on the frame (14) of the main body (3), for example, one or more drives (16,17) and / or one or more detection devices (36) may be arranged, which are connected to the media feedthrough.
Am Kopfteil (4) des Falzwerkzeugs (2) können ein oder mehrere angetriebene Falzrollen (21,22) angeordnet sein, denen jeweils eine oder mehrere frei drehende Gegenrollen (23,24,25) zugeordnet sein können. Die Falzrollen (21,22) können bevorzugt verschieblich auf einer jeweiligen Antriebsachse (27,28) gelagert sein. Die Antriebsachse(n) (27,28) können quer oder schräg zur Längsachse des Gestells (14) ausgerichtet sein. Das Falzwerkzeug (2) kann über eine Stelleinrichtung (31') verfügen, über welche eine Zustellbewegung (32) der angetriebenen Falzrollen (21,22) einzeln oder gemeinsam bewirkt sein kann. Die Zustellbewegung (32) kann z.B. entlang der Antriebsachse (27,28) erfolgen.On the head part (4) of the folding tool (2), one or more driven folding rollers (21,22) may be arranged, each of which one or more freely rotating counter-rollers (23,24,25) may be assigned. The folding rollers (21, 22) can preferably be mounted displaceably on a respective drive axle (27, 28). The drive axle (s) (27, 28) can be oriented transversely or obliquely to the longitudinal axis of the frame (14). The folding tool (2) can have an adjusting device (31 ') via which an advancing movement (32) of the driven folding rollers (21, 22) can be effected individually or jointly. The feed movement (32) may be e.g. take place along the drive axis (27,28).
Die Falzrollen (21,22) können auch starr auf den Antriebsachsen (27,28) angeordnet sein. Eine Zustellung der Falzrollen (21,22) relativ zum Werkstück (9,10) kann in diesem Fall über eine von einer Trageinrichtung (41,42) bewirkte Relativbewegung zwischen Werkstück(9,10) und Falzwerkzeug (2) erfolgen.The folding rollers (21, 22) can also be arranged rigidly on the drive axles (27, 28). A delivery of the folding rollers (21,22) relative to the workpiece (9,10) can take place in this case via a relative movement between the workpiece (9,10) and folding tool (2) effected by a support means (41,42).
Die Gegenrollen (23,24) sind z.B. an einem Rollenträger (29) angeordnet. Der in
Das Falzwerkzeug (2) kann eine oder mehrere Stelleinrichtungen (31) zur Verstellung der Gegenrollen (23,24,25,26) aufweisen. Die Stelleinrichtungen können beispielsweise eine Schwenkbewegung (30) zur Verstellung der Lage der Gegenrollen (23,24,25,26) bewirken. Die Stelleinrichtungen (31) können im Werkzeugkopf (4) oder im Grundträger (14) angeordnet sein und können über eigene Antriebe (17) verfügen. Die Stelleinrichtungen (31) können auch über externe Antriebe betätigbar sein. Weiterhin kann eine Verstellung, insbesondere eine Schwenkbewegung (30) der Gegenrollen (23,24,25,26) auf beliebige andere Weise und ggf. auch manuell erfolgen.The folding tool (2) can have one or more adjusting devices (31) for adjusting the counter-rollers (23, 24, 25, 26). The adjusting devices, for example, a pivoting movement (30) for adjusting the position of the counter-rollers (23,24,25,26) cause. The adjusting devices (31) can be arranged in the tool head (4) or in the base carrier (14) and can have their own drives (17). The adjusting devices (31) can also be actuated via external drives. Furthermore, an adjustment, in particular a pivoting movement (30) of the counter-rollers (23,24,25,26) in any other way and possibly also manually.
Die Stelleinrichtungen (31) oder die Rollenträger (29) können Vorrichtungen zur mechanischen Arretierung der Gegenrollen (23,24,25,26) in bestimmten vordefinierten Positionen aufweisen.The adjusting devices (31) or the roller carriers (29) can have devices for mechanical locking of the counter-rollers (23, 24, 25, 26) in specific predefined positions.
Das Kopfmodul (37) kann beliebige unterschiedliche Ausführungsformen haben und ein oder mehrere Paarungen von einer angetriebenen Falzrolle (21,22) mit jeweils ein oder mehreren frei drehenden Gegenrollen (23,24,25,26) aufweisen. Das Kopfmodul (37) kann auch zusätzliche angetriebene oder frei drehende Falzrollen oder Gegenrollen aufweisen.The head module (37) may have any of a variety of embodiments and may include one or more pairings of a driven seaming roller (21, 22) each having one or more freely rotating counter rollers (23, 24, 25, 26). The head module (37) can also have additional driven or free-rotating folding rollers or counter-rollers.
Der Antrieb (16) für die Falzrollen (21,22) kann bevorzugt als steuer- oder regelbarer Elektromotor ausgeführt und im Gestell (14) des Grundträgers (3) angeordnet sein. Die Abtriebsenergie des Elektromotors kann beispielsweise über den Anschluss (18) in das Kopfmodul (37) eingeleitet und dort ggf. über ein Getriebe (nicht dargestellt) an ein oder mehrere Falzrollen (21,22) weitergeleitet sein.The drive (16) for the folding rollers (21, 22) can preferably be designed as a controllable or controllable electric motor and arranged in the frame (14) of the basic carrier (3). The output energy of the electric motor can be introduced, for example via the terminal (18) in the head module (37) and there possibly via a transmission (not shown) to one or more folding rollers (21,22) forwarded.
Am Kopfmodul (37) können Stelleinrichtungen (31,31') zum Verstellen von Gegenrollen (23,24,25,26) sowie Falzrollen (21,22) angeordnet sein. Zur Betätigung der Stelleinrichtungen (31,31') können ein oder mehrere Antriebe (17) im Kopfmodul (37) angeordnet sein. Die Antriebe (17) können über Anschlüsse (19,20) bevorzugt mit elektrischer oder pneumatischer Energie versorgt sein.Adjusting devices (31, 31 ') for adjusting counter-rollers (23, 24, 25, 26) and folding rollers (21, 22) can be arranged on the head module (37). For actuating the adjusting devices (31, 31 '), one or more drives (17) can be arranged in the head module (37). The drives (17) can preferably be supplied with electrical or pneumatic energy via terminals (19, 20).
Es ist weiterhin möglich, ein oder mehrere Antriebe (17) im Gestell (14) des Grundträgers (3) anzuordnen, wobei die Antriebsenergie der Antriebe (17) über Anschlüsse (18,19,20) in das Kopfmodul (37) und an die Stelleinrichtungen (31,31') weitergeleitet sein können.It is also possible to arrange one or more drives (17) in the frame (14) of the base support (3), wherein the drive energy of the drives (17) via terminals (18,19,20) in the head module (37) and to the Control devices (31,31 ') can be forwarded.
Die Falzeinrichtung (1) kann eine Erfassungseinrichtung (36) für Falzparameter aufweisen, die beispielsweise zur Erfassung von Antriebsenergien der Falzrollen (21,22) und insbesondere zur Erfassung von Motorströmen eines oder mehrerer Antriebe (16) ausgebildet ist. Die Erfassungseinrichtung (36) kann auch als Sensorik zur Erfassung von Reaktionskräften und/oder Reaktionsmomenten ausgebildet sein. Die Reaktionskräfte und/oder Reaktionsmomente können direkt über eine im Falzwerkzeug (2) angeordnete Messeinrichtung (nicht dargestellt) und/oder indirekt über andere Messeinrichtungen wie beispielsweise Kraft- und Momentenmessmittel eines Manipulators (6) erfasst werden.The folding device (1) may have a detection device (36) for folding parameters, which is designed, for example, for detecting drive energy of the folding rollers (21, 22) and in particular for detecting motor currents of one or more drives (16). The detection device (36) can also be designed as a sensor for detecting reaction forces and / or reaction moments. The reaction forces and / or reaction moments can be detected directly via a measuring device (not shown) arranged in the folding tool (2) and / or indirectly via other measuring devices such as, for example, force and torque measuring means of a manipulator (6).
Die Erfassungseinrichtung (36) kann eigenständig ausgebildet sein und beispielsweise im Gestell (14) des Grundträgers (3) angeordnet sein. Sie kann auch Teil einer gemeinsamen Steuerung (8) der Falzeinrichtung (1) sein.The detection device (36) can be designed independently and be arranged, for example, in the frame (14) of the basic carrier (3). It can also be part of a common control (8) of the folding device (1).
In
In der in
Im Bewegungsbereich des vom Manipulator (6) geführten Werkstücks (9,10) sind in der gezeigten Ausführungsform der Falzeinrichtung (1) ferner eine Zufuhr (45) und eine Abfuhr (46) für Bauteile (9,10) und Werkstücke sowie eine Assemblingstation (48) zum Zusammenfügen von Bauteilen (9,10) angeordnet. Über die Zufuhr (45) können Bauteile (9,10) einzeln oder gemeinsam von außen zur Falzeinrichtung (1) zugeführt und dort ggf. in der Assemblingstation (48) zu einem mehrteiligen Werkstück (9,10) zusammengefügt werden. Das fertig bearbeitete Werkstück (9,10) kann über die Abfuhr (46) abtransportiert werden.In the area of movement of the workpiece (9, 10) guided by the manipulator (6), in the embodiment shown, the folding device (1) is also provided with a supply (45) and a discharge (46) for components (9, 10) and workpieces, and an assembling station ( 48) arranged for joining components (9,10). Components (9, 10) can be supplied individually or jointly from the outside to the folding device (1) via the feed (45) and, where appropriate, joined together in the assembling station (48) to form a multi-part workpiece (9, 10). The finished workpiece (9,10) can be removed via the discharge (46).
Die Falzeinrichtung (1) weist bevorzugt eine Steuerung (8) auf, welche beispielsweise in der dargestellten Ausführungsform mit der Trageinrichtung (42) in Form eines Manipulators (6) sowie dem Falzwerkzeug (2), dem Eckenschieber (44) und der Auftrageinrichtung (43) verbunden ist. Die Falzeinrichtung (1) kann ferner eine Abstimmungseinrichtung (39) zum Abstimmen der Drehgeschwindigkeit (49) oder Abwälzgeschwindigkeit der angetriebenen Falzrollen (21,22) am Werkstück (9,10) und der Bahngeschwindigkeit (50) der Führungsbewegung der Trageinrichtung (41,42) auf. Die Abstimmungseinrichtung (39) ist hier Teil der Steuerung (8) und mit einer im Falzwerkzeug (2) angeordneten Erfassungseinrichtung (36) verbunden.The folding device (1) preferably has a control (8), which, for example, in the illustrated embodiment with the support means (42) in the form of a manipulator (6) and the folding tool (2), the corner slide (44) and the applicator (43 ) connected is. The folding device (1) may further comprise a tuning device (39) for adjusting the rotational speed (49) or rolling speed of the driven folding rollers (21, 22) on the workpiece (9, 10) and the web speed (50) of the guiding movement of the carrying device (41, 42) ) on. The voting device (39) is here part of the controller (8) and connected to a in the folding tool (2) detection device (36).
Über die Abstimmungseinrichtung (39) können die Drehgeschwindigkeit (49) der angetriebenen Falzrollen (21,22) und die Bewegungen des vom Manipulator (6) geführten Werkstücks (9,10) derart beeinflusst werden, dass die Drehgeschwindigkeit (49) mit der Bahngeschwindigkeit (50) auf Gleichlauf synchronisiert ist. Die Abstimmungseinrichtung (39) kann jedoch auch eine gezielte Geschwindigkeitsdifferenz oder Proportionalität zwischen der Drehgeschwindigkeit (49) und der Bahngeschwindigkeit (50) erzeugen.The tuning device (39) can be used to influence the rotational speed (49) of the driven folding rollers (21, 22) and the movements of the workpiece (9, 10) guided by the manipulator (6, 10) in such a way that the rotational speed (49) coincides with the path speed (FIG. 50) is synchronized to synchronism. However, the tuner (39) may also produce a targeted speed difference or proportionality between the speed of rotation (49) and the line speed (50).
Während eines Falz- oder Bördelvorganges kann die Erfassungseinrichtung (36) Parameter der Falzung, wie Drehgeschwindigkeit (49), Antriebsenergie, Anpress- und Führungskraft oder dgl., erfassen und beispielsweise durch Material- oder Fertigungsungenauigkeiten hervorgerufene Abweichungen im Falzprozess feststellen. Die Steuerung (8) kann beispielsweise unter Einbeziehung der Signale der Erfassungseinrichtung (36) über die Abstimmungseinrichtung (39) regulativ in den Falzprozess eingreifen. Der Eingriff kann beispielsweise dadurch erfolgen, dass die Drehgeschwindigkeit (49) der Falzrollen (21,22) gegenüber der Bahngeschwindigkeit (50) der Relativbewegung von Falzwerkzeug (2) und Falzrand (33,34) erhöht oder vermindert wird. Auch die im Roboter (6) programmierte und gespeicherte Führungsbahn kann verändert werden.During a folding or flanging operation, the detection device (36) can record parameters of the folding, such as rotational speed (49), drive energy, pressing and guiding force or the like, and ascertain deviations in the folding process caused, for example, by material or production inaccuracies. The controller (8) can, for example, intervene regulatively in the folding process by including the signals of the detection device (36) via the tuning device (39). The intervention can be effected, for example, by increasing or decreasing the rotational speed (49) of the folding rollers (21, 22) relative to the web speed (50) of the relative movement of folding tool (2) and folding edge (33, 34). The guideway programmed and stored in the robot (6) can also be changed.
Es sind auch andere regulative Eingriffe in den Falzprozess möglich, beispielsweise indem der Winkel β zwischen den Achsen einer im Eingriff befindlichen Falzrolle (21,22) und einer oder mehreren Gegenrollen (23,24,25,26) vergrößert oder verkleinert wird.Other regulative interventions in the folding process are also possible, for example by increasing or decreasing the angle β between the axes of an engaged folding roller (21, 22) and one or more counter rollers (23, 24, 25, 26).
Abwandlungen der gezeigten und beschriebenen Ausführungsformen sind in verschiedener Weise möglich. Das Falzwerkzeug (2) kann eine beliebige Anzahl von Rollenpaarungen aufweisen, wobei die Verstellung und die Zustellung der Falzrollen (21,22) sowie Gegenrollen (23,24,25,26) auf beliebige andere Weise erfolgen kann. Beispielsweise kann ein von außen betätigbarer Verstell- und oder Schwenkmechanismus vorgesehen sein, der gegebenenfalls über eine mechanische Arretierung verfügt und keines eigenen Antriebs (17) bedarf.Variations of the embodiments shown and described are possible in various ways. The folding tool (2) can have any number of roller pairs, wherein the adjustment and the delivery of the folding rollers (21,22) and counter-rollers (23,24,25,26) can be done in any other way. For example, an externally operable adjusting and or pivoting mechanism may be provided, which optionally has a mechanical lock and does not need its own drive (17).
Die Zahl und Anordnung der Falz- und Gegenrollen (21 bis 26) kann variieren. Beispielsweise kann nur eine angetriebene Falzrolle (21) am Werkzeugkopf (4) angeordnet sein, der über einen Revolvermechanismus ein oder mehrere Gegenrollen zugestellt werden können. Es ist ferner möglich, als Erweiterung der Falzeinrichtung (1) andere Falzwerkzeuge (2) ohne angetriebene Falzrollen oder ohne Gegenrollen einzubringen.The number and arrangement of the folding and counter rollers (21 to 26) may vary. For example, only a driven folding roller (21) on the tool head (4) may be arranged, which can be delivered via a turret mechanism one or more counter-rollers. It is also possible, as an extension of the folding device (1) to bring other folding tools (2) without driven folding rollers or without counter-rollers.
Verändert werden können auch die Ausbildung der Bearbeitungsstationen (40). Diese können stationär oder bewegbar angeordnet sein und ggf. über eigene Steuerungen verfügen. Außerdem ist es möglich, die in den gezeigten und in den beschriebenen Ausführungsbeispielen enthaltenen Merkmale beliebig untereinander zu vertauschen und zu kombinieren.The design of the processing stations (40) can also be changed. These may be stationary or movable and possibly have their own controls. In addition, it is possible to interchange and combine the features contained in the embodiments shown and in the described embodiments as desired.
Innerhalb der verschiedenen Varianten können auch folgende Einzelmerkmale erfindungswesentlich sein, die auch in Kombination untereinander bedeutsam sind. Mindestens einer Falzrolle (21,22) ist eine Gegenrolle (23,24) zugeordnet ist. Das Falzwerkzeug (2) kann insbesondere zwei Falzrollen (21,22) aufweisen, denen jeweils mindestens eine Gegenrolle (23,24,25,26) zugeordnet ist. Ferner können mindestens einer Falzrolle (21,22) zwei oder mehr Gegenrollen (23,25) zugeordnet sein. Die Falzrollen (21,22) können unterschiedliche, insbesondere zylindrische, konische oder ballige, Mantelformen, insbesondere mit abgesetzten Mantelflächen haben. Das Falzwerkzeug (2) kann mindestens eine Paarung von einer konischen Falzrolle (22) und einer konischen Gegenrolle (26) aufweisen, wobei zwischen Falzrolle (22)und Gegenrolle (26) ein Spalt (38) gebildet ist. Eine Falzrolle (22) und eine Gegenrolle (26) können derart zueinander angeordnet sein, dass während des Falzens eine von einem Untergrund, z.B. einem Falzbett (13), weggerichtete Zugkraft (F) auf den im Spalt (38) zwischen den Rollen (22,26) befindlichen Falzrand (34) ausübt wird.Within the various variants, the following individual features may also be essential to the invention, which are also significant in combination with one another. At least one folding roller (21, 22) is assigned a counter roller (23, 24). The folding tool (2) can in particular have two folding rollers (21, 22), to each of which at least one counter roller (23, 24, 25, 26) is assigned. Further, at least one folding roller (21, 22) may be two or more Be assigned counter-roles (23,25). The folding rollers (21, 22) can have different, in particular cylindrical, conical or crowned, shell shapes, in particular with offset lateral surfaces. The folding tool (2) can have at least one pairing of a conical folding roller (22) and a conical counter roller (26), wherein a gap (38) is formed between the folding roller (22) and the counter roller (26). A folding roller (22) and a counter roller (26) can be arranged relative to one another such that, during folding, a tensile force (F) directed away from a substrate, eg a folding bed (13), acts on the gap (38) between the rollers (22 , 26) located fold edge (34) is exercised.
Der Grundträger (3) weist einen Anschluss (15) für eine stationäre Anordnung oder für eine Verbindung an einen Manipulator (6) auf. Der Anschluss (15) hat eine Mediendurchführung. Der Anschluss (15) kann als Flanschplatte zur Anbindung an eine Manipulatorhand (7) oder zur Befestigung an einem stationären Gestell ausgebildet sein. Die Trageinrichtung (42), insbesondere ein mehrachsiger Manipulator (6), kann eine Greifvorrichtung (47) zur Aufnahme von einteiligen oder mehrteiligen Werkstücken (9,10) aufweisen, wobei z.B. ein Falzwerkzeug (2) an einer stationären Trageinrichtung (41) angeordnet ist und mit dieser eine Bearbeitungsstation (40) für relativ dazu bewegbare Werkstücke (9,10) bildet. Die Falzeinrichtung (1) kann ein Falzbett (13) mit Spanneinrichtung (11) für ein oder mehrere Werkstücke aufweisen, das ggf. mehrfach vorhanden ist und das mit der Trageinrichtung (42) für Werkstücke (9,10) verbunden ist. Insbesondere können an der Greifvorrichtung (47) ein oder mehrere mitgeführte Falzbetten (13) angeordnet sein.The base support (3) has a connection (15) for a stationary arrangement or for a connection to a manipulator (6). The connection (15) has a media feedthrough. The connection (15) can be designed as a flange plate for connection to a manipulator hand (7) or for attachment to a stationary frame. The carrying device (42), in particular a multi-axis manipulator (6), may comprise a gripping device (47) for receiving one-piece or multi-part workpieces (9, 10), e.g. a folding tool (2) on a stationary support means (41) is arranged and forms with this a processing station (40) for relatively movable workpieces (9,10). The folding device (1) can have a folding bed (13) with clamping device (11) for one or more workpieces, which may be present several times and which is connected to the carrying device (42) for workpieces (9, 10). In particular, one or more entrained folding beds (13) can be arranged on the gripping device (47).
Die Falzeinrichtung (1) kann eine Auftragvorrichtung (43) insbesondere für Klebe- oder Dichtmittel aufweisen. Sie kann ferner mindestens einen stationären und/oder vom Falzwerkzeug (2) mitgeführten Eckenschieber (44) aufweisen.The folding device (1) can have an application device (43), in particular for adhesive or sealing means. It can also have at least one stationary and / or vom Folding tool (2) entrained corner slide (44).
- 11
- Falzeinrichtungfolding device
- 22
- Falzwerkzeugfolding tool
- 33
- Grundträgerbase support
- 44
- Werkzeugkopftool head
- 55
- Magazinmagazine
- 66
- Manipulatormanipulator
- 77
- Manipulatorhandmanipulator hand
- 88th
- Steuerungcontrol
- 99
- Werkstück, Bauteil, BlechWorkpiece, component, sheet metal
- 1010
- Werkstück, Bauteil, StützrahmenWorkpiece, component, support frame
- 1111
- Spanneinrichtungtensioning device
- 1212
- VorfalzvorrichtungVorfalzvorrichtung
- 1313
- Falzbettfolding bed
- 1414
- Gestellframe
- 1515
- Anschluss, FlanschplatteConnection, flange plate
- 1616
- Antriebdrive
- 1717
- Antriebdrive
- 1818
- Anschluss, kinematischConnection, kinematically
- 1919
- Anschluss, pneumatischConnection, pneumatic
- 2020
- Anschluss, elektrischConnection, electrical
- 2121
- Falzrolle, zylindrischFolding roller, cylindrical
- 2222
- Falzrolle, konischFolding roller, conical
- 2323
- Gegenrolle , zylindrischCounter roll, cylindrical
- 2424
- Gegenrolle , zylindrischCounter roll, cylindrical
- 2525
- Gegenrolle , konischCounter roll, conical
- 2626
- Gegenrolle , konischCounter roll, conical
- 2727
- Antriebsachsedrive axle
- 2828
- Antriebsachsedrive axle
- 2929
- Rollenträgerroller carrier
- 3030
- Schwenkbewegungpivotal movement
- 3131
- Stelleinrichtung, SchwenkeinrichtungAdjusting device, pivoting device
- 31'31 '
- Stelleinrichtung, ZustellvorrichtungSetting device, delivery device
- 3232
- Zustellbewegunginfeed
- 3333
- Werkstückrand, Bördelrand, FalzrandWorkpiece edge, beaded edge, seam edge
- 3434
- Werkstückrand, FalzrandWorkpiece edge, seam edge
- 3535
- Werkstückrand, StützrandWorkpiece edge, support edge
- 3636
- Erfassungseinrichtungdetector
- 3737
- Kopfmodulhead module
- 3838
- Spaltgap
- 3939
- Abstimmungseinrichtungmatcher
- 4040
- Bearbeitungsstationprocessing station
- 4141
- Trageinrichtung für FalzwerkzeugCarrying device for folding tool
- 4242
- Trageinrichtung für WerkstückCarrying device for workpiece
- 4343
- Auftragvorrichtungapplicator
- 4444
- Eckenschiebercorner slide
- 4545
- Zufuhrsupply
- 4646
- Abfuhrremoval
- 4747
- Greifvorrichtung, WerkstückträgerGripping device, workpiece carrier
- 4848
- AssemblingstationAssembling station
- 4949
- Drehgeschwindigkeitrotation speed
- 5050
- Bahngeschwindigkeitweb speed
- 5151
- Falzkante, BördelkanteFolded edge, flanged edge
- αα
- Falzöffnungswinkel, FalzwinkelFalzöffnungswinkel, folding angle
- ββ
- Winkel zwischen RollenachsenAngle between roller axes
- FF
- Zugkrafttraction
Claims (15)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE202009005111U DE202009005111U1 (en) | 2009-08-05 | 2009-08-05 | folding device |
Publications (3)
Publication Number | Publication Date |
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EP2283945A2 true EP2283945A2 (en) | 2011-02-16 |
EP2283945A3 EP2283945A3 (en) | 2011-08-10 |
EP2283945B1 EP2283945B1 (en) | 2013-10-30 |
Family
ID=43031457
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10171410.3A Not-in-force EP2283945B1 (en) | 2009-08-05 | 2010-07-30 | Folding device |
Country Status (3)
Country | Link |
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EP (1) | EP2283945B1 (en) |
DE (1) | DE202009005111U1 (en) |
ES (1) | ES2442894T3 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114733943A (en) * | 2022-06-13 | 2022-07-12 | 冰轮环境技术股份有限公司 | Robot hem device and hem system |
DE102015119589B4 (en) | 2014-11-14 | 2023-07-20 | Ferrobotics Compliant Robot Technology Gmbh | Device and method for robotic roller hemming |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
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DE202011000315U1 (en) * | 2011-02-11 | 2012-05-21 | Kuka Systems Gmbh | folding tool |
DE202012101187U1 (en) * | 2012-04-02 | 2013-07-09 | Kuka Systems Gmbh | Pressing tool, in particular folding tool |
CN106255559A (en) * | 2014-02-19 | 2016-12-21 | 康茂股份公司 | There is the roller crimping head of replaceable roller load bearing unit |
ES1115580Y (en) * | 2014-05-08 | 2014-10-01 | Ingemat S L | LEG PREPARATION TOOL |
DE202015100339U1 (en) | 2015-01-26 | 2015-02-16 | Kuka Systems Gmbh | folding device |
DE202015102477U1 (en) | 2015-05-13 | 2016-08-17 | Kuka Systems Gmbh | folding tool |
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US7152292B2 (en) * | 2001-08-31 | 2006-12-26 | Edag Engineering + Design Ag | Roller folding head |
DE102005004474B3 (en) * | 2005-01-31 | 2006-08-31 | Edag Engineering + Design Ag | Beading device and crimping method for transferring a crimping web of a component about a crimping edge |
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JP4939774B2 (en) * | 2005-06-22 | 2012-05-30 | 本田技研工業株式会社 | Roller hemming apparatus and roller hemming method |
DE202007007838U1 (en) * | 2007-06-01 | 2007-09-13 | Edag Engineering + Design Ag | Roller flanging tool used in the production of a wheel housing, sliding roof, engine hood and mudguards comprises a support structure, arms connected to each other in a connecting section and flanging rollers |
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2009
- 2009-08-05 DE DE202009005111U patent/DE202009005111U1/en not_active Expired - Lifetime
-
2010
- 2010-07-30 EP EP10171410.3A patent/EP2283945B1/en not_active Not-in-force
- 2010-07-30 ES ES10171410T patent/ES2442894T3/en active Active
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102015119589B4 (en) | 2014-11-14 | 2023-07-20 | Ferrobotics Compliant Robot Technology Gmbh | Device and method for robotic roller hemming |
CN114733943A (en) * | 2022-06-13 | 2022-07-12 | 冰轮环境技术股份有限公司 | Robot hem device and hem system |
Also Published As
Publication number | Publication date |
---|---|
DE202009005111U1 (en) | 2010-12-30 |
EP2283945A3 (en) | 2011-08-10 |
ES2442894T3 (en) | 2014-02-14 |
EP2283945B1 (en) | 2013-10-30 |
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