EP2834024B1 - Outil de formage guidé par robot et procédé de formage - Google Patents

Outil de formage guidé par robot et procédé de formage Download PDF

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Publication number
EP2834024B1
EP2834024B1 EP13715924.0A EP13715924A EP2834024B1 EP 2834024 B1 EP2834024 B1 EP 2834024B1 EP 13715924 A EP13715924 A EP 13715924A EP 2834024 B1 EP2834024 B1 EP 2834024B1
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EP
European Patent Office
Prior art keywords
robot
shaping tool
hemming
pressing element
shaping
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Active
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EP13715924.0A
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German (de)
English (en)
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EP2834024A1 (fr
Inventor
Johann Kraus
Marion SCHERER
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KUKA Systems GmbH
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KUKA Systems GmbH
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Publication of EP2834024A1 publication Critical patent/EP2834024A1/fr
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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
    • B21D19/00—Flanging or other edge treatment, e.g. of tubes
    • B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
    • B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
    • B21D19/043—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers for flanging edges of plates
    • 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
    • B21D39/023—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 using rollers

Definitions

  • the invention relates to a robot-controlled shaping tool, in particular a hemming tool, and a shaping method, in particular a hemming method with the features in the preamble of the main claim of the method and device, such as from US Pat DE 20 2009 005111 U1 known.
  • Folding robots are known from practice which use a folding tool with a pressure element, e.g. a folding roller, wear and press against the flange to be folded of a workpiece and move along a folding path.
  • a folding tool with a pressure element e.g. a folding roller
  • Such hemming tools can have a rigidly or resiliently mounted hemming roller. The pressing force is applied by the robot, whereby its trajectory is programmed accordingly during the folding process.
  • the invention solves this problem with the features in the main claim of the method and device.
  • the robot-guided forming tool claimed in particular a hemming tool, has the advantage that the pressing force acting on the workpiece can be controlled or regulated independently with the detection and setting device. There is no need to intervene in the robot's path programming. This has the advantage that the setting of the pressing force can also be carried out by less qualified personnel who do not have detailed knowledge and skills for robot programming.
  • the forming and folding technology according to the invention has the particular advantage that it can compensate for fluctuations in the pressing force exerted by the robot.
  • path programming can be inaccurate or incorrect.
  • a workpiece for which the robot's path was originally programmed can also change during operation.
  • the robot with its limbs and robot axes is itself an elastic system and has different spring stiffnesses depending on the axis position.
  • a robot is as soft as a feather when it assumes an extended position to reach a more distant processor location and is to exert a pressure force transversely to this extended orientation. If the processor is closer to the robot and the robot is in a bent position, the spring stiffness is much higher.
  • the claimed forming and hemming technology provides a remedy here. It works in the immediate vicinity of the processor and can control or regulate fluctuations in the pressing force caused by robots. This compensation is independent of the cause of the force fluctuation.
  • the forming and hemming technology claimed also allows process optimization and adaptation of the pressing force to different process requirements.
  • the pressing force can be increased locally, especially at problematic process points. In the case of folding, these can be corners or bending points in the course of the fold, which offer greater resistance to roller folding. If necessary, the pressing force can also be reduced at other points in order to avoid impairment of the workpiece, a robot overload or the like.
  • the pressure technology claimed can also be used for other purposes, e.g. to avoid slippage in the case of driven pressure elements, in particular folding rollers driven in rotation. Slippage can lead to surface damage on the workpiece.
  • the e.g. Speed-controlled drive for the pressure element forced to increase the torque, which on the one hand avoids slip between the pressure element and the workpiece.
  • part of the force required to bend the flange when folding is applied by the drive of the pressure element.
  • the motor and drive torque increases in a favorable manner.
  • the fact that the pressing force and the drive torque are in a specific relationship, in particular in a proportional relationship, is also advantageous here.
  • a pressure element is preferably designed as a freely rotatable or driven hemming roller and can also be present several times if necessary.
  • the pressure element can also be acted upon by a spring in order to allow evasive movements.
  • the components of the forming tool in particular the hemming tool, in particular the detection device and the actuating device, can also be designed in different ways.
  • a connection with a robot controller can have advantages for the targeted adaptation of the pressing force, in particular for path-related local force changes.
  • a display makes it easier for an operator to make manual adjustments, if necessary, and also to monitor and track the pressing forces in the process and at different process points along a programmed path.
  • the adjusting device adjusts the pressure element independently.
  • the sensor system for the direct or indirect detection of the pressing force (F) acting on the pressing element has, in one embodiment, a force sensor and / or a displacement sensor.
  • a variant provides that the actuating device acts on the pressure element directly or indirectly via a spring.
  • the hemming tool has a holder with one or more pressing element (s), the holder being connected to the actuating device.
  • the invention relates to a forming tool and a forming process, preferably in the form of a hemming tool (2) and hemming process.
  • the invention also relates to a processing device (1) with a programmable multi-axis robot (3) and a forming or folding tool (2) and a processing method.
  • the following exemplary embodiments relate to a hemming tool (2) and a hemming process and also apply accordingly to other forming tools (2) and forming processes.
  • the robot (3) has a plurality of movably, in particular articulated, interconnected robot members with driven translational and / or rotary ones Robot axes at the connection points.
  • the design, combination and number of translational and / or rotary robot axes can be selected as required.
  • An articulated arm robot or articulated arm robot (3) is preferably used which has a base as a base and also a rocker arm, a boom and an end link (4), in particular a robot hand, with a rotating output flange.
  • the robot (3) has six rotary axes including a three-axis robot hand (4). It can also have fewer axes, e.g. five axes, or one or more additional axis (s), e.g. Driving axis (s) have.
  • the robot (3) is connected to a robot controller (22) which is shown in FIG Figure 4 is shown schematically.
  • the robot controller (22) contains one or more computing units with processors, input and output means and memories for data and programs.
  • a path program for the movements of the preferably position-controlled robot (3) is programmed and stored in the robot controller (22).
  • the robot (3) guides a hemming tool (2) along this programmed path.
  • the robot (3) presses the hemming tool (2) with a pressure element (10) and a pressure force (F) against an in Figure 1 and 2 schematically shown workpiece (5) on a receptacle (6), for example a folding bed.
  • the machining process with the application of a pulling or pushing pressure force (F) on a workpiece (5) is designed as a folding process.
  • a robot hemming is used, a flange of a workpiece (5) being bent and hemming one after the other in one or more stages with the pressing element (10).
  • the workpiece (5) can consist of one or more thin sheets, whereby another sheet can be clamped by the folded flange when folding.
  • the programmed machining path can be programmed as a single route or a sequence of routes, alternatively or additionally but also point by point or as a sequence of points.
  • the hemming tool (2) is continuously moved at least in sections along a hemming course on a workpiece edge and in a railway line.
  • the hemming tool (2) is in Figure 1 and 2 shown in an exemplary constructive embodiment. It has a frame (7) which, for example, has an elongated, housing-like shaft (12), possibly with lateral wall openings, and a central axis (8).
  • the frame (7) carries a robot connector (9) at the upper end for a fixed or detachable connection to the output element, for example the rotary flange, of the robot end link (4). If the hemming tool (2) is to be changed, an automatic interchangeable coupling (not shown) can be interposed.
  • the axis (8) can be aligned with the axis of rotation of the said output element.
  • a pressure element (10) is arranged on the frame (7) at a suitable point, in particular at the lower end, with which a pressure force (F) is exerted in the pulling or pushing direction.
  • the pressure element (10) can be present individually or several times.
  • One or more pressure elements (10) can be located on a holder (11) which is rigidly or movably mounted on the frame (7).
  • a pressure element (10) can be designed, for example, as a folding roller rotatable about a bearing axis with a jacket contoured to meet the folding requirements. If the hemming tool (2) is used to perform a multi-stage hemming process, e.g.
  • folding rollers (10) with different shell geometries, for example cylindrical and conical, can be present and arranged on different sides of the frame (7).
  • individual or all pressure elements or folding rollers (10) are located on a holder (11).
  • the hemming tool (2) has a detection device (14) for the pressure force (F) at the process point (26) and an adjusting device (15) controlled or regulated by the detection device (14) for the adjustment of a pressure element movably arranged on the frame (7) (10).
  • the adjusting device (15) has a controller (16) connected to the detection device (14).
  • a pressure element (10) can be adjusted in one or more axes or directions and can also have selectable kinematics. In the embodiment shown, there is a linear and displaceable adjustability in the direction of the axis (8).
  • a pressure element (10) can be mounted on the frame (7) in an individually adjustable manner.
  • the holder (11) with the plurality of pressure elements or folding rollers (10) is movably mounted on the frame (7), preferably movably mounted along the axis (8).
  • the bearing for the said uniaxial or multi-axis mobility can be designed in any suitable manner and is preferably low-friction. It can e.g. be a plain bearing. The details are not shown in the drawings.
  • a spring (13) can also act on a pressure element (10) or on a holder (11) with one or more pressure elements (10), which is arranged, for example, along the axis (8) in the frame (7) and which has a corresponding axial Evasive movement of the pressure element (10) and possibly Holder (11) allows.
  • the spring (13) can, for example, be designed as disc springs in package or column form, as a helical spring or the like.
  • a folding roller (10) can have a freely rotatable bearing.
  • a folding roller (10) can rotate, for which an in Figure 4 schematically indicated drive (24) is arranged at a suitable point, for example on the holder (11).
  • This can be an electromotive rotary drive that is controlled or regulated.
  • it can have a speed or rotational speed control.
  • the drive (24) can be connected to the robot controller (22) and can receive a control signal from it for the specification or for setting a target value for the rotational speed or the speed.
  • the rolling speed at the processor location (26) can be set as a function of the guiding or path speed of the robot (3) along the course of the fold.
  • the speeds can be chosen to be the same, for example.
  • the rotary drive and the offset or guide movement of the robot (3) are then synchronous.
  • the adjusting device (15) adjusts a pressure element (10) in at least one direction, preferably in the axial direction (8), in the above-mentioned manner and thereby performs a linear displacement movement, for example.
  • the adjusting device (15) can adjust the pressure element (10) independently, the path programming in the robot controller (22) not being changed.
  • the adjusting device (15) or the detection device (14) can be designed to compensate for variable robot elasticities. It is also possible to adjust the pressing force (F) to independently influence the process.
  • the robot (3) can have a different spring elasticity and, when the pressing force (F) is applied, itself yields more or less resiliently.
  • Figure 1 shows a bent position with relatively high spring stiffness.
  • the spring stiffness is significantly lower.
  • the in Figures 3 to 6 The robot (3) shown in the schematic models shown is symbolized by a spring which is arranged between a schematically shown base (28) and the hemming tool (2).
  • the stiff robot (3) from Figure 1 corresponds to the schematic representation of Figure 5 with a great length (L) of the spring symbolizing the robot (3).
  • the feather-soft robot (3) from Figure 2 corresponds to the diagram of Figure 6 with a compressed and correspondingly shortened spring (3).
  • Out Figures 5 and 6 it can be seen that the real pressure force (F) acting at the processor location (26) in the soft robot of Figure 2 , 6th less than the hard robot of Figure 1 , 5 is.
  • the system includes a series connection of springs (3, 13).
  • the adjusting device (15) and the detection device (14) are able to detect this change in the pressing force (F) and to change it if necessary.
  • the actuating device (15) has an actuator (18) which acts on the applied pressure element (10) and additionally introduces an actuating force and an actuating path.
  • the actuator (18) arranged on the frame (7) is supported on the robot (3) via the robot connection (9) and acts directly or indirectly via the spring (13) on the applied pressure element (10).
  • the pressing element (10) is pushed out by the actuator (18) to increase the pressing force (F), the spring (13) being additionally compressed.
  • the process point (26) can also represent the so-called tool center point (TCP) of the hemming tool (2).
  • the actuator (15) thus changes the effective length of the hemming tool (2) and the position of the TCP.
  • the actuator (18) can be designed in different ways. It preferably consists of dimensionally stable or incompressible media and enables a defined displacement adjustment and force change when activated.
  • Figure 3 gives a general scheme for the arrangement and design of an actuator (18). It is arranged and supported on the frame (7), and is preferably located between the robot connection (9) and the pressure element (10) or the holder (11). In the in Figure 3 A spring (13) is missing, so that the actuator (18) acts directly on the holder (11) or a pressure element (10) and adjusts it.
  • the actuator (18) is connected to the controller (16) and is controlled by it.
  • the in Figure 3 The actuator (18) shown schematically can be, for example, an electromotive spindle drive or a rack and pinion drive. Alternatively, a lever or crank drive with a power actuator, eg a piezo element, is possible.
  • the actuator (18) is designed here as a hydraulic unit (19).
  • This has an adjusting cylinder (21) on the frame (7), which is acted upon by a preferably incompressible fluid, e.g. hydraulic oil, and extends a piston rod accordingly, which acts on a pressure element (10) or a holder (11) directly or as in Figure 4 acts indirectly via the interposed spring (13).
  • the hydraulic unit (19) also has a drive (20) connected to the controller (16), for example a servomotor, in particular an electric servomotor, which acts with an actuator on another cylinder and its piston and the said fluid according to the specification displaced into the adjusting cylinder (21).
  • the drive (20) controls the adjustment movement of the adjusting cylinder (21).
  • the hydraulic unit (19) can be attached to the hemming tool (2) and carried along by the robot (3).
  • the drive (20) and the first cylinder acted upon by it can be arranged externally and connected to the tool-side adjusting cylinder (21) via a line.
  • Figure 1 and 2 show exemplary line connections on the frame (7).
  • the pressing force (F) or the reaction force acting on the pressing element (10) can be detected with a detection device (14).
  • the detection device (14) can have a sensor system (17) with one or more suitable sensors.
  • the force can be measured for detection, for example by a load cell, strain gauge or similar other sensors at a suitable location.
  • a sensor system (17) with force measurement for example between the actuator (18) and the pressure element (10), for example on the holder (11). It can also be located at another suitable location.
  • the sensor system can, for example, have a distance meter which is rigidly mounted on the frame (7) and which measures the distance to a reference point on the process side, for example to the workpiece (5). From the distance, the spring length (L) of the spring (13) compressed by the actuator (18) can be inferred and the force can be determined from this via the spring characteristic. In another embodiment, the spring length or its change can be measured directly, for example using a Hall sensor. In addition, further structural and functional variants of the sensor system (17) are possible.
  • the detection device (14) can also be connected to a display (27) according to FIG Figure 4 .
  • the measured or recorded values, in particular the force values, can be displayed optically or in some other suitable manner on the display (27).
  • the detection device (14) is also connected to the adjusting device (15) and in particular to its controller (16) and feeds in the actual value detected for the pressing force (F) there.
  • the controller (16) also has a fixed or variable setpoint input.
  • the adjusting device (15), in particular the controller (16), can e.g. be connected to the robot controller (22).
  • the target value can be entered via the robot controller (22).
  • a setpoint value can be entered in a different way, for example manually by an operator.
  • an in Figure 4 input means (23) shown which can be operated, for example, by an operator, for example a rotary or Slide switch.
  • a display (not shown) allows the input to be checked.
  • the controller (16) can be set and programmed remotely, for example by a computer or another setting device in front of or over a distance with a line connection, for example via a network, the Internet or the like.
  • the relationship and the mutual influence of the setpoint input from the robot controller (22) and from another point, in particular from the input means (23), can be configured as required.
  • the input means (23) can lead and superimpose or replace the setpoint input from the robot controller (22).
  • a setpoint input for the pressing force (F) from the robot controller (22) can be omitted.
  • the setpoint is only set via the input means (23).
  • controller (16) can be assigned to the robot controller (22) and in particular integrated there.
  • a location-related setpoint input can be useful in order to adapt the pressing force (F) to special process requirements. This can take place, for example, at corners or bending points or curves of a flange profile. At such points, the flange to be bent sets the pressure element (10) a greater resistance than on straight areas of the fold. With a corresponding setpoint input, the pressing force (F) can be increased via the adjusting device (15) in order to overcome the resistance. Furthermore, there may be other process points at which an increased or possibly reduced pressure force (F) is required for other reasons.
  • the hemming tool (2) can also have a device (25) for preventing slippage between a driven drive element (10), in particular a driven hemming roller, and the workpiece (5) to which it is subjected.
  • the drive (24) of the pressure element (10) can e.g. have a speed control.
  • the setpoint value for the pressing force F can be increased via the setpoint input on the controller (16), whereby the resistance for the drive (24) and the moving pressure means (10) is also increased. This leads to a slowing down of the drive movement, which the drive (24) counteracts by increasing the drive torque. In this way, slippage can be prevented.
  • the measure described can be used in a targeted manner to remedy any identified slip problems and damage points on the workpiece (5) caused thereby. With increased forming and folding resistance, e.g. at the aforementioned corner areas or curves in the course of the rebate, the pressure force F, which is already increased to overcome the resistance and to bend the flange, can automatically increase the drive torque.
  • the pressing means (10) can be varied. It can, for example, be designed as a pressure stamp or as a pressure finger or in another suitable manner.
  • the machining or pressing process can also have a different design.
  • the hemming tool can be designed as a different pressing tool, in particular as a different forming or joining tool.
  • punch-shaped pressure elements (10) workpiece parts can be pressed against one another at points or in sections and joined, e.g. via a clip connection, an adhesive connection or the like.
  • a drive (24) for a pressure element (10) can alternatively be arranged on the frame (7) and have a drive connection following the adjustment of the pressure element (10).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Presses (AREA)

Claims (15)

  1. Outil de façonnage guidé par robot permettant de façonner, en particulier de plier, des pièces à travailler (5), l'outil de façonnage (2) présentant un raccord pour robot (9) et un bâti (7) doté d'un élément de pression (10), en particulier un rouleau de pliage, guidé de manière réglable sur celui-ci, caractérisé en ce que l'outil de façonnage (2) présente un dispositif de détection (14) pour la force de pression (F) et un dispositif de réglage (15) commandé ou régulé par le dispositif de détection (14) pour le réglage de l'élément de pression (10).
  2. Outil de façonnage selon la revendication 1, caractérisé en ce que le dispositif de réglage (15) déplace, en particulier décale de manière linéaire, l'élément de pression (10) dans au moins une direction, de préférence dans la direction axiale (8) de l'outil de façonnage (2).
  3. Outil de façonnage selon la revendication 1 ou 2, caractérisé en ce que le dispositif de réglage (15) est conçu pour compenser des élasticités variables du robot et/ou pour ajuster la force de pression (F) en vue d'une influence autonome sur le processus.
  4. Outil de façonnage selon la revendication 1, 2 ou 3, caractérisé en ce que l'outil de façonnage (2) est réalisé sous la forme d'un outil de pliage, en particulier d'une tête de pliage à rouleaux.
  5. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que l'outil de façonnage (2) présente un ressort (13) agissant sur l'élément de pression (10).
  6. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de détection (14) présente un ensemble de capteurs (17) pour la détection indirecte ou directe de la force de pression (F) agissant au niveau de l'élément de pression (10), l'ensemble de capteurs (17) présentant un capteur de force et/ou un capteur de déplacement.
  7. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de réglage (15) présente un actionneur (18) agissant sur l'élément de pression (10).
  8. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que le dispositif de réglage (15) présente un régulateur (16) à entrée de valeur de consigne fixe ou variable, relié au dispositif de détection (14) et à l'actionneur (18), le régulateur (16) présentant un moyen de saisie (23) pouvant être actionné par l'utilisateur pour la saisie des valeurs de consigne.
  9. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que l'outil de façonnage (2) présente son propre dispositif d'entraînement régulé (24), en particulier régulé en vitesse, en particulier un dispositif d'entraînement rotatif, pour un élément de pression (10), en particulier un rouleau de pliage rotatif.
  10. Outil de façonnage selon l'une quelconque des revendications précédentes, caractérisé en ce que l'outil de façonnage (2) présente un dispositif (25) d'évitement de patinage pour un élément de pression entraîné (10), en particulier un rouleau de pliage rotatif.
  11. Dispositif d'usinage, en particulier dispositif de façonnage ou de pliage, comprenant un robot multiaxial (3) programmable doté d'une commande de robot (22), le robot (3) guidant un outil de façonnage (2) qui présente un raccord pour robot (9), un bâti (7) et un élément de pression (10) guidé de manière réglable sur celui-ci, caractérisé en ce que l'outil de façonnage (2) est réalisé selon au moins l'une des revendications 1 à 10.
  12. Procédé permettant de façonner, en particulier de plier, des pièces à travailler (5) avec un outil de façonnage (2) guidé par un robot (3) qui présente un raccord pour robot (9) et un bâti (7) doté d'un élément de pression (10), en particulier un rouleau de pliage, guidé de manière réglable sur celui-ci, caractérisé en ce qu'un dispositif de détection (14) sur l'outil de façonnage (2) détecte la force de pression (F) et l'élément de pression (10) est déplacé de manière commandée ou régulée au moyen d'un dispositif de réglage (15) de l'outil de façonnage (2).
  13. Procédé selon la revendication 12, caractérisé en ce que l'outil de façonnage (2) est guidé par un robot (3) commandé en position le long d'une trajectoire programmée, l'élément de pression (10) étant déplacé par le dispositif de réglage (15) de manière autonome et sans modification de la programmation de la trajectoire.
  14. Procédé selon la revendication 12 ou 13, caractérisé en ce que le déplacement de l'élément de pression (10) est conçu pour compenser des élasticités variables du robot et/ou pour ajuster la force de pression (F) en vue d'une influence autonome sur le processus.
  15. Procédé selon la revendication 12, 13 ou 14, caractérisé en ce que lors d'un pliage, l'élément de pression (10) est entraîné en rotation par son propre dispositif d'entraînement (24), le réglage de la force de pression (F) permettant d'éviter tout patinage entre l'élément de pression (10) et la pièce à travailler (5) .
EP13715924.0A 2012-04-02 2013-03-26 Outil de formage guidé par robot et procédé de formage Active EP2834024B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202012101187U DE202012101187U1 (de) 2012-04-02 2012-04-02 Andrückwerkzeug, insbesondere Falzwerkzeug
PCT/EP2013/056425 WO2013149894A1 (fr) 2012-04-02 2013-03-26 Outil de formage guidé par robot et procédé de formage

Publications (2)

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EP2834024A1 EP2834024A1 (fr) 2015-02-11
EP2834024B1 true EP2834024B1 (fr) 2020-12-30

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EP13715924.0A Active EP2834024B1 (fr) 2012-04-02 2013-03-26 Outil de formage guidé par robot et procédé de formage

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EP (1) EP2834024B1 (fr)
CN (1) CN103358177B (fr)
DE (1) DE202012101187U1 (fr)
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CN106391887A (zh) * 2016-11-29 2017-02-15 安徽瑞祥工业有限公司 一种机器人包边处理装置
JP6904876B2 (ja) * 2017-10-16 2021-07-21 トヨタ自動車株式会社 ローラヘミング加工方法およびローラヘミング加工装置
FR3078000B1 (fr) * 2018-02-19 2020-03-13 Faurecia Systemes D'echappement Ensemble de fabrication d'une piece metallique et utilisation d'un tel ensemble
CN109807196B (zh) * 2019-03-08 2020-12-15 安徽机电职业技术学院 一种检查机器人
CN110153294B (zh) * 2019-05-29 2021-03-09 安徽巨一科技股份有限公司 一种基于移动终端的机器人滚边机构及其调试方法
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CN103358177A (zh) 2013-10-23
DE202012101187U1 (de) 2013-07-09
CN103358177B (zh) 2016-08-03
EP2834024A1 (fr) 2015-02-11
WO2013149894A1 (fr) 2013-10-10

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