EP3247511B1 - Flanging system and flanging method for autonomous flanging - Google Patents

Description

The invention relates to a flanging system, a flanging unit and a flanging method for a self-sufficient flanging of components. A preferred field of application is vehicle construction, in particular automobile construction. Crimping is preferably performed on a body part or a body of a vehicle, preferably an automobile. The system and method according to the invention and the flanging unit according to the invention are particularly advantageous for flanging on an already joined body. In crimping, a flange of the component along a crimping edge in a single or in several successive steps partially or completely transferred. The invention is particularly advantageous for folding, i. for the production of a rabbet joint of at least two components. The term of flanging includes folding and, moreover, flipping a flange without joining operation.

In mass production of the automotive industry is typically crimped on bodies by means of robots, which are arranged along a production line which successively promoting the bodies. Such a starting position is also present in the invention in preferred applications.

When crimping, a crimping element of a crimping tool exerts a crimping force on a flange of a component that is to be folded over, although it can basically be received by it with a correspondingly dimensioned component, but in most applications it is received by a counter element. If the crimping element and a counter-element are moved opposite one another along the crimping edge, the component can be affected by the contact with the counter-element. Disturbing are already minor scratches and grooves when the counter-element is moved along a surface of the component, which later serves as a visible surface in the finished component.

To avoid damage of this kind, the EP 1 640 080 B1 to use a protective structure which is applied for flanging on a component surface opposite the flange and receives the flanging force exerted by the crimping element during crimping. The protective structure forms on a side facing away from the component side a runway for a counter-roller formed counter-element. In this way, the power flow between flanging element and counter element in the crimping tool is closed via the protective structure, wherein the protective structure rests immovably on the component and protects the component against interference by the counter element. In the same direction aim also the EP 2 108 466 B1 according to which the protective structure additionally fulfills a certain guiding function for the flanging tool, and the EP 2 276 590 B1 , which proposes instead of a mobile protective structure, which is positioned by means of a robot on the component, along the production line fixedly arranged protective structure. From the US 2008/245124 A1 a robot is known, which is equipped with a hemming tool. The robot works with the crimping tool a body part, which lies in a separate receptacle which receives at least the crimping force of the crimping tool. In the US 2008/0 302 159 A1 the crimping force of the crimping tool is received by a separate support means. The same applies to the EP 1 640 080 A1 , which forms the basis for the preamble of claim 1. From the EP 2 276 590 B1 a folding device is known, with a folding device and a separate counter-holder, which can be delivered to the workpiece area to be folded in order to support the folding forces applied by the folding tool outside of the workpiece. The EP 2 108 466 A2 relates to a crimping device in which the workpiece to be crimped is placed in a separate tool that absorbs the crimping forces of the crimping tool.

The crimping tool is usually attached to an articulated arm of a robot, such as in the cited prior art. The robot moves the tool on a predetermined path, which is simulated the course of the flanged edge and stored in a programmable robot controller. In mass production, but also in other applications, typically industrial robots are used. These are articulated arm robots that are available off-the-shelf from different manufacturers and are not tailored to specific applications. The user or manufacturer of the hemming tool to be handled by the robot must configure the robot according to the specific hemming event, usually by programming a robot controller. Specialists are required for the configuration, who not only need to know the characteristics of the crimping and the respective crimping tool, but also the details of the robot control and their programming.

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

This object is achieved by the flanging system of claim 1 and the flanging method according to claim 15.

The invention relates to a crimping system and a crimping method for transferring a flange of a component by crimping, preferably for producing a rabbet joint. The crimping system comprises a crimping tool with a flanging element which can be lowered on the flange for folding over the flange along a crimping edge of the component. Although the crimping element may in principle be a crimping sliding element, which slides on the crimping edge following the flange for folding over the flange. However, the crimping element is more preferably a crimping roller which rolls on the flange during crimping along the crimping edge. The crimping system further comprises a crimping unit having a guide structure for guiding the crimping tool along the crimping edge and a carrying device for positioning and holding the crimping unit in a crimping position relative to the component. The flanging unit can be handled as a unit by means of the carrying device, in particular can be positioned relative to the component. The crimping unit comprises a bearing surface formed on the guide structure, which surface is adapted to a surface of the component which is adjacent to the crimping edge and opposite to the flange shaped and can be applied. Preferably, the contact surface is flat in the crimping position on the component. The carrying device is furthermore designed to hold the flanging unit in the positioned state, ie in the flanging position suitable for flanging, relative to and against the component. The support means is adapted to receive the weight of the flanging unit. The component is relieved of the weight of the flanging unit, at least substantially.

A hemming drive and a media supply for the hemming drive are further components of the hemming system. The hemming drive is adapted to drive the hemming tool in the hemming direction along the hemming edge, ie to provide for the advance of the hemming tool and thus together of the hemming element. If the crimping element is designed as a crimping roller, the crimping drive can be a rotary drive directly of the roller, so that the directly driven crimping roller entrains a support that rotatably supports it in the crimping direction. However, the crimping tool preferably supports a crimping element designed as a crimping roller freely rotatable and can be driven in the crimping direction by means of the crimping drive as a whole, in particular including the crimping element.

According to the invention, the hemming tool and the hemming drive are supported inside the hemming unit, so that a driving force required to drive the hemming tool and / or directly a hemming element designed as a hemming roller and a hemming force to be exerted on the flange by the hemming element are at least substantially, preferably entirely, be absorbed within the flanging unit. The hemming tool and the hemming drive are integrated components of the hemming unit which can be handled as a unit by means of the carrying device. By integrating the guide structure, crimping tool and flare drive in a flanging unit, which can be handled as a unit, the invention provides a completely new distribution of functions. While the prior art hemming tool is moved along the hemming edge by a robot, the invention does not require such a robot or relieves an on-site robot of the complex task of moving the hemming element in space following the course of the hemming edge. It should be noted that the flanging edge in space has a multi-dimensional, in many applications a three-dimensional course, that can bend around two or three mutually orthogonal spatial axes. The guiding function is fulfilled within the flanging unit and does not have to be taken over by a robot in a complex manner. Apart from the support of the flanging unit as a whole, as a unit, the fulfillment of the two functions of guiding and driving within the crimping unit allows a flanging independent of external auxiliary devices, such as a robot, and in this sense autonomous flanging.

However, a preferably present at the site robots can form the support device. If the robot is preferably an articulated-arm robot, for example an industrial robot customary in vehicle construction, then it merely has to complete the flanging unit as a whole, together with the guide structure, the flanging tool and the flanging drive, for flanging in the robot Position and hold the flanging position relative to the component. Accordingly, the configuration of the robot is simplified while, on the other hand, the component is relieved by not having to carry the guide structure and, subsequently, the entire flanging unit or at most only a small part of the weight of the flanging force. Preferably, the vast majority, preferably more than 90%, more preferably more than 95%, of the weight of the flanging unit is received by the carrying device. The risk of the component warping under the weight of a structure used in crimping is reduced. When crimping and no inaccuracies may occur, as they may occur when moving the crimping tool by means of the robot due to, for example, existing in the articulated arm of the robot elasticities and other positioning inaccuracies, since propulsion and leadership of the crimping take place within the positioned crimping unit.

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

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

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

The media supply for the hemming drive and optionally one or more other components of the hemming unit is carried out in preferred embodiments on the support means. The media supply may include the supply of the flanging unit, in particular the flanging drive, with the required energy. The media supply may instead or preferably additionally be set up to supply the flanging unit, in particular the flanging drive, with control or regulating signals. Accordingly, electrical, mechanical and fluidic energy, control signals, control signals, measuring signals and the like are understood as media. If the carrying device is a robot, a power supply and / or a signal transmission from the robot is preferably separate or at least partially separate. In preferred embodiments, at least the control and / or control signals for the hemming unit are generated and / or processed by a controller, which is independent of the robot controller and may also be spatially separated from the robot. Although the power supply and / or supply of one or more media for other purposes can also be realized independently and separately from the robot, on the other hand, the flanging unit can also be supplied by the robot with energy, for example with electrical and / or fluidic energy, since this does not significant intervention in the robot control brings with it. In any case, no motion control must be provided within a robot control for guiding a hemming tool.

With regard to the control and / or regulation, the cooperation of carrying device, which is preferably formed as a robot, and flanging unit is designed such that the carrying device transmits signals for controlling the flanging unit. A movement control of the carrying device, which is formed by the robot controller as a robot when the carrying device is embodied, can be set up to carry out a presence check and / or a position data check with respect to the flanging unit. In a pure presence control, the control of the support means only states that it is connected to the flanging unit in a manner required for beading. In a position data check, it also determines the position of the flanging unit in an endogenous coordinate system of the support device and / or relative to the component to be flanged. The flanging, however, is independently controlled and / or regulated by a flare control. Due to the presence and / or position data control, the carrying device can take into account safety-relevant aspects, such as preventing collisions with an adjacent work unit, for example with a neighboring robot, or with a person located in the work area of the carrying device.

The invention also relates, beyond the flanging system, to the flanging unit, which is not claimed separately, as such, without the carrying device. The crimping unit may comprise any feature of the crimping unit described in connection with the crimping system and also any combination of features disclosed in this connection for the crimping unit. The flanging unit accordingly comprises the integrated design Guide structure, the crimping tool and the flanging drive and a connection for producing a suitable for handling by means of the support connection.

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

In the method according to the invention, the flanging unit of the previously discussed flanging system is positioned by means of the carrying device in the flanging position relative to the component, preferably applied to the component. If the crimping unit has the protective structure with adapted abutment surface, which is preferably a slender strip following the crimping edge, the crimping unit is positioned in the crimping position such that the abutment surface is in a surface area close to the crimping edge of the component that surrounds the crimping element when crimping along the crimping edge opposite, on the component rests flat. The carrying device holds the hemming unit in the hemming position, wherein the carrying device carries at least a predominant part of the weight of the hemming unit. The crimping tool is driven in a guiding and supporting engagement with the guide structure by means of the crimping drive of the crimping unit in the crimping direction. In this occurring in flanging movement of the flange is folded under the action of the crimping element by a predetermined angle. A driving force exerted by the hemming drive to drive the hemming tool and a hemming force exerted by the hemming element for transferring to the flange are received within the hemming unit, preferably by the guiding structure. Preferably, the carrying device not only absorbs the weight or at least a major part of the weight of the flanging unit. By holding the hemming unit and thereby the guide structure in the hemming position, it preferably also absorbs at least a predominant part of the drive force to be applied for the advance of the hemming element and / or at least a predominant part of the hemming force.

The crimping system comprises a crimping control for the control, optionally a controlled control, the crimping drive and / or an optional adjusting device for adjusting an angular position of the crimping element. In preferred embodiments, the Bördelsteuerung works self-sufficient. If the carrying device is a robot whose movements and gripping operations, including the movements and gripping operations required for positioning, are controlled by a robot controller, the crimping control is independently realized by the robot controller. There is no need to interfere with the robot control to control the hemming drive and / or the adjustment device. However, it should not be ruled out that the robot outputs a signal to the hemming controller when the hemming unit is positioned in the hemming position to notify the hemming controller and thereby trigger the hemming controller. From that moment, however, the controls Bördelsteuerung the operations to be carried out during flanging the Bördelantriebs and / or the adjustment without intervention of the robot, which exerts only the holding function during beading. The robot control and the flanging control can be designed in particular as programmed or programmable controls. In preferred embodiments, the control software or at least parts of the control software of the flare control is implemented independently of the control software or at least parts of the control software of the robot control. When crimping, the crimping control preferably operates independently of the robot control. A flanging program can be executed by the flare control in such embodiments independently of the robot control and in this sense self-sufficient.

The interaction of robot control and flanging control can in particular be designed such that the robot positions the flanging unit on the component and notifies the flanging control when the flanging unit is in the intended position on the component. The flanging unit may have a measuring device for detecting the flange to be folded and / or the flanged edge. In preferred embodiments, the measuring device is arranged to be movable together with the crimping tool. Preferably, it is arranged on the hemming tool. If the flanging unit has such a measuring device, the intended position in which the robot positions the flanging unit can be a measuring position. When the flanging unit is in the measuring position, the flanging control can measure the flanging unit by means of the measuring device relative to the flange and / or the flanging edge. The flare control tells the robot controller the result of the calibration. Depending on the result of the calibration, the robot controller may cause a correction of the position of the flanging unit relative to the component. The correction to be performed is preferably determined by the flanging control and communicated to the robot controller for execution. The process of position correction and readjustment of the position and the calibration may be repeated one or more times until the measurement shows that the flanging unit is in the correct flanging position required for flanging. When the hemming unit is correctly positioned, the hemming control is responsible for the control and / or regulation of the hemming unit. After the beading is performed, the bead control of the robot controller notifies the completion of the beading, so that the robot control, i. H. the robot that can move the flanging unit away from the component.

Advantageous features are also disclosed in the subclaims and by the claimed combination of features described in the subclaims.

• Aspekt 1. Bördelsystem zum Umlegen eines Flansches eines Bauteils durch Bördeln, vorzugsweise zur Herstellung einer Falzverbindung, das Bördelsystem umfassend:
  1. (a) ein Bördelwerkzeug (10) mit einem zum Umlegen des Flansches (2) längs einer Bördelkante (3) des Bauteils (1) auf dem Flansch (2) abfahrbaren Bördelelements (12),
  2. (b) eine Bördeleinheit (5) mit einer Führungsstruktur (30) zur Führung des Bördelwerkzeugs (10) längs der Bördelkante (3),
  3. (c) einen Bördelantrieb (20) zum Antreiben des Bördelwerkzeugs (10) und/oder des Bördelelements (12) in eine Bördelrichtung (X) längs der Bördelkante (3),
  4. (d) und eine Medienversorgung für den Bördelantrieb (20),
  5. (e) eine Trageinrichtung (9) zum Positionieren und Halten der Bördeleinheit (5) in einer relativ zum Bauteil (1) bestimmten Bördelposition,
  6. (f) wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) innerhalb der Bördeleinheit (5) abgestützt sind, so dass eine zum Antreiben aufzubringende Antriebskraft und eine vom Bördelelement (12) zum Bördeln auf den Flansch (2) auszuübende Bördelkraft innerhalb der Bördeleinheit (5) aufgenommen werden,
  7. (g) und das Bördelwerkzeug (10) und der Bördelantrieb (20) integrierte Bestandteile der von der Trageinrichtung (9) als Einheit handhabbaren Bördeleinheit (5) sind.
• Aspekt 2. Bördelsystem nach dem vorhergehenden Aspekt, wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) an einem gemeinsamen Werkzeugträger (11) angeordnet sind, der relativ zur Führungsstruktur (30) längs der Bördelkante (3) beweglich ist.
• Aspekt 3. Bördelsystem nach dem vorhergehenden Aspekt, wobei der Werkzeugträger (11) längs der Führungsstruktur (30) und dadurch längs der Bördelkante (3) beweglich ist.
• Aspekt 4. Bördelsystem nach einem der vorhergehenden Aspekte, umfassend einen mit der Führungsstruktur (30) zum Tragen ausreichend fest verbundenen Anschluss (6) zur mechanischen Verbindung mit der Trageinrichtung (9).
• Aspekt 5. Bördelsystem nach dem vorhergehenden Aspekt, wobei der Anschluss (6) mit der Führungsstruktur (30) unbeweglich verbunden ist.
• Aspekt 6. Bördelsystem nach einem der zwei unmittelbar vorhergehenden Aspekte, wobei der Anschluss (6) für eine automatische Aufnahme der Bördeleinheit (5) durch die Trageinrichtung (9) eingerichtet ist.
• Aspekt 7. Bördelsystem nach einem der vorhergehenden Aspekte, umfassend einen mit der Führungsstruktur (30) verbundenen Anschluss (6) für die Medienversorgung der Bördeleinheit (5).
• Aspekt 8. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelelement (12) eine auf dem Flansch abrollbare Bördelrolle (12) ist.
• Aspekt 9. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Trageinrichtung (9) ein Roboter, vorzugsweise ein Gelenkarmroboter, für eine vollautomatisierte Positionierung der Bördeleinheit (5) ist
• Aspekt 10. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Führungsstruktur (30) gemeinsam mit einem Anschluss (6) für die Trageinrichtung (9) Bestandteil eines Anschluss- und Führungsmoduls (6, 30) und das Bördelwerkzeug (10) und der Bördelantrieb (20) Bestandteile eines Werkzeug- und Antriebsmoduls (10, 20) sind, wobei der Werkzeug- und Antriebsmodul (10, 20) in einem Führungseingriff mit einer Führungsbahn (31) der Führungsstruktur (30) ist und mittels des Bördelantriebs (20) als modulare Einheit im Führungseingriff längs der Führungsbahn (31) relativ zur Führungsstruktur (30) antreibbar ist.
• Aspekt 11. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Führungsbahn (31) dem Verlauf der Bördelkante (3) nachgebildet ist.
• Aspekt 12. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Führungsstruktur (30) eine Führungsbahn (31) bildet, die dem Verlauf der Bördelkante (3) vorzugsweise nachgebildet ist, und das Bördelwerkzeug (10) und der Bördelantrieb (20) jeweils oder das Bördelwerkzeug (10) vorzugsweise gemeinsam mit dem Bördelantrieb (20) in einem Führungseingriff mit der Führungsbahn (31) längs der Bördelkante (3) geführt beweglich ist oder sind.
• Aspekt 13. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Führungsstruktur (30) eine Führungsbahn (31) bildet, die dem Verlauf der Bördelkante (3) vorzugsweise nachgebildet ist, und die Bördeleinheit (5) ein mit dem Bördelwerkzeug (10) verbundenes Eingriffsglied (24, 25) umfasst, das mit der Führungsstruktur (30) in einem an der Führungsbahn (31) geführten Führungseingriff ist, so dass sich das Bördelwerkzeug (10) bei in Bördelposition befindlicher Bördeleinheit (5) im Führungseingriff längs der Bördelkante (3) bewegt.
• Aspekt 14. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Führungsstruktur (30) eine Führungsbahn (31) bildet, die vorzugsweise dem Verlauf der Bördelkante (3) nachgebildet ist, und das Bördelwerkzeug (10) in einem Führungseingriff eines Eingriffsglieds (24, 25) und der Führungsbahn (31) längs der Führungsbahn (31) geführt wird, so dass sich das Bördelwerkzeug (10) bei in Bördelposition befindlicher Bördeleinheit (5) im Führungseingriff längs der Bördelkante (3) bewegt.
• Aspekt 15. Bördelsystem nach einem der zwei unmittelbar vorhergehenden Aspekt, wobei das Eingriffsglied (24, 25) einen Führungsträger (24) und am Führungsträger (24) angeordnete Eingriffselemente (25) umfasst, die voneinander beabstandet und jeweils mit der Führungsstruktur (30) in Kontakt sind, und wobei die Eingriffselemente (25) in solch einer Anzahl und Anordnung vorgesehen sind, dass das sich der Führungsträger (24) relativ zur Führungsstruktur (30) nur translatorisch längs der Führungsbahn (31) bewegen kann.
• Aspekt 16. Bördelsystem nach einem der drei unmittelbar vorhergehenden Aspekte, wobei die Führungsbahn (31) und das Eingriffsglied (24, 25) in einem ersten Schwalbenschwanzeingriff und in einem dem ersten Schwalbenschwanzeingriff quer zur Bördelrichtung (X) entgegen wirkenden zweiten Schwalbenschwanzeingriff gegeneinander gedrückt sind, um den Führungseingriff zu bilden, und wobei das Eingriffsglied (24, 35) im ersten Schwalbenschwanzeingriff und im zweiten Schwalbenschwanzeingriff in Bördelrichtung (X) voneinander beabstandete Eingriffselemente (25) umfasst.
• Aspekt 17. Bördelsystem nach einem der vier unmittelbar vorhergehenden Aspekte, wobei die Eingriffselemente Eingriffsrollen sind.
• Aspekt 18. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelwerkzeug (10), vorzugsweise auch der Bördelantrieb (20), in einem Führungseingriff an der Führungsstruktur (30) beweglich geführt und abgestützt ist, so dass wenigstens ein überwiegender Teil der Bördelkraft und/oder wenigstens ein überwiegender Teil des Gewichts des Bördelwerkzeugs (10), vorzugsweise auch des Bördelantriebs (20), im Führungseingriff aufgenommen wird oder werden.
• Aspekt 19. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Bördeleinheit (5) ein mit dem Bördelwerkzeug (10) verbundenes Eingriffsglied (24, 25) umfasst, das mit der Führungsstruktur (30) in einem die Bördelkraft aufnehmenden Stützeingriff und im Stützeingriff relativ zur Führungsstruktur (30) beweglich ist, so dass das Bördelwerkzeug (10) im Stützeingriff in Bördelrichtung (X) beweglich an der Führungsstruktur (30) abgestützt ist.
• Aspekt 20. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Bördeleinheit (5) eine Schutzstruktur (33) mit einer Anlagefläche (34) umfasst, die an eine dem Flansch (2) gegenüberliegend an die Bördelkante (3) grenzende Oberfläche des Bauteils (1) angepasst geformt und an diese Oberfläche (4) anlegbar ist.
• Aspekt 21. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Anlagefläche (34) der Schutzstruktur (33) streifenförmig ist.
• Aspekt 22. Bördelsystem nach einem der zwei unmittelbar vorhergehenden Aspekte, wobei die Anlagefläche (34) an der Führungsstruktur (30) geformt ist, so dass die Führungsstruktur (30) auch die Schutzstruktur (33) bildet.
• Aspekt 23. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) gemeinsam beweglich angeordnet sind, wobei der Bördelantrieb (20) einen Motor (22), ein vom Motor antreibbares Antriebsrad (23) und eine Antriebsbahn (32) mit einem dem Verlauf der Bördelkante (3) nachgebildeten Bahnverlauf umfasst und wobei das Antriebsrad (23) in einem reib- und/oder formschlüssigen Eingriff mit der Antriebsbahn (32) ist, so dass sich das Antriebsrad (23) bei Drehantrieb gemeinsam mit dem Motor (22) und dem Bördelwerkzeug (10) längs der Antriebsbahn (32) bewegt.
• Aspekt 24. Bördelsystem nach dem vorhergehenden Aspekt, wobei das Antriebsrad (23) ein mit der Antriebsbahn (32) in einem Zahneingriff befindliches Zahnrad ist und die Antriebsbahn (32) eine Verzahnung oder aber vorzugsweise eine Kette oder einen Zahnriemenstreifen aufweist, die oder der im Verlauf der Antriebsbahn (32) abgestützt ist.
• Aspekt 25. Bördelsystem nach dem vorhergehenden Aspekt, wobei die als Verzahnung, Kette oder Zahnriemenstreifen gebildete Antriebsbahn (32) im Verlauf der Antriebsbahn (32) an der Führungsstruktur (30) abgestützt ist.
• Aspekt 26. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelelement (12) relativ zur Führungsstruktur (30) winkelverstellbar ist.
• Aspekt 27. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelelement (12) an einem Werkzeugträger (11) des Bördelwerkzeugs (10) verstellbar angeordnet ist und das Bördelwerkzeug (10) eine Verstelleinrichtung (13-19) zum Verstellen einer Winkelposition des Bördelelements (12) relativ zum Werkzeugträger (11) umfasst.
• Aspekt 28. Bördelsystem nach einem der vorhergehenden Aspekte, wobei
  • das Bördelwerkzeug (10) eine Verstellbahn (16-18) und ein mit der Verstellbahn (16-18) in einem Verstelleingriff befindliches Verstellglied (13, 14) umfasst,
  • das Bördelelement (12) an einem aus Verstellbahn (16-18) und Verstellglied (13, 14), vorzugsweise am Verstellglied (13, 14), angeordnet ist,
  • und eine Winkelposition des Bördelelements (12) durch eine Relativbewegung von Verstellbahn (16-18) und Verstellglied (13, 14) im Führungseingriff von Verstellbahn (16-18) und Verstellglied (13, 14) relativ zur Verstellbahn (16-18) verstellbar ist
• Aspekt 29. Bördelsystem nach dem vorhergehenden Aspekt, wobei das Bördelelement (12) ortsfest zu dem einen aus Verstellbahn (16-18) und Verstellglied (13, 14) angeordnet ist.
• Aspekt 30. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Verstellbahn (16-18) einen gekrümmten, vorzugsweise über einen Winkel von wenigstens 60° gekrümmten Verstellabschnitt (16) für die Verstellung der Winkelposition, einen Ein- und Ausfahrabschnitt (18) und einen Rampenabschnitt (17) aufweist, der den Ein- und Ausfahrabschnitt (18) über eine Rampe mit dem Verstellabschnitt (16) verbindet.
• Aspekt 31. Bördelsystem nach einem der drei unmittelbar vorhergehenden Aspekte, wobei die Verstellbahn (16-18) quer zur Bördelrichtung (X) über die Führungsstruktur (30) hinausragt und in Bezug auf die Führungsstruktur (30) konkav gekrümmt ist und wobei das Bördelelement (12) zumindest in einer Arbeitsposition in einem Bereich zwischen der Vertellbahn (16-18) und der Führungsstruktur (30) und/oder der Schutzstruktur (33) nach Aspekt 15 angeordnet ist, um die Bördelkraft in Richtung auf die Führungsstruktur (30) und/oder die Schutzstruktur (33) nach Aspekt 15 auszuüben.
• Aspekt 32. Bördelsystem nach einem der vorhergehenden Aspekte, wobei das Bördelelement (12) relativ zu der Führungsstruktur (30) und/oder der Schutzstruktur (33) nach Aspekt 20 so angeordnet ist, dass die von des Bördelelements (12) auf den Flansch (2) ausübbare Bördelkraft in Richtung auf die Führungsstruktur (30) und/oder die Schutzstruktur (33) nach Aspekt 20 wirkt.
• Aspekt 33. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Bördeleinheit (5) eine Messeinrichtung (27) zur Erfassung des Flansches (2) und/oder der Bördelkante (3) aufweist und die Messeinrichtung (27) mit dem Bördelwerkzeug (10) gemeinsam beweglich angeordnet ist, vorzugsweise am Bördelwerkzeug (10) angeordnet ist.
• Aspekt 34. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Messeinrichtung (27) am Bördelwerkzeug (10) so angeordnet ist, dass die Messeinrichtung (27) die Bördelkante (3) und/oder den Flansch (2) von der Seite des Bördelelements (12) aus erfasst.
• Aspekt 35. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Trageinrichtung (9) ein Roboter mit einer Robotersteuerung zur Steuerung und/oder Regelung von Bewegungen des Roboters, vorzugsweise eines Gelenkarms des Roboters, ist und das Bördelsystem eine Bördelsteuerung für den Bördelantrieb (20) umfasst, wobei die Bördelsteuerung unhabhängig von der Robotersteuerung ist.
• Aspekt 36. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Bördelsteuerung von der Robotersteuerung auch räumlich getrennt verwirklicht ist.
• Aspekt 37. Bördelsystem nach einem der vorhergehenden Aspekte, umfassend eine Bördelsteuerung, die dazu eingerichtet ist, den Bördelantrieb (20) und/oder die in Aspekt 27 beschriebene Verstelleinrichtung (19) zu steuern, optional geregelt zu steuern, wobei die Trageinrichtung (9) ein Roboter mit einer Robotersteuerung ist und die Bördelsteuerung dazu eingerichtet ist, den Bördelantrieb (20) und/oder die Verstelleinrichtung (19) unabhängig von der Robotersteuerung zu steuern, optional geregelt zu steuern.
• Aspekt 38. Bördelsystem nach dem vorhergehenden Aspekt, wobei die Bördelsteuerung von der Robotersteuerung oder dem Roboter räumlich getrennt angeordnet ist.
• Aspekt 39. Bördelsystem nach einem der vorhergehenden Aspekte, wobei die Bördelsteuerung und eine Bewegungssteuerung der Trageinrichtung (9), vorzugsweise eine Robotersteuerung, programmierte oder programmierbare Steuerungen sind und ein Bördelprogramm der Bördelsteuerung unabhängig von einem Steuerungsprogramm der Bewegungssteuerung der Trageinrichtung (9) implementiert ist.
• Aspekt 40. Bördeleinheit zum Umlegen eines Flansches eines Bauteils durch Bördeln, vorzugsweise zur Herstellung einer Falzverbindung, die Bördeleinheit umfassend:
  1. (a) ein Bördelwerkzeug (10) mit einem zum Umlegen des Flansches (2) längs einer Bördelkante (3) des Bauteils (1) auf dem Flansch (2) abfahrbaren Bördelelement (12),
  2. (b) eine Führungsstruktur (30) zur Führung des Bördelwerkzeugs (10) längs der Bördelkante (3),
  3. (c) einen Bördelantrieb (20) zum Antreiben des Bördelwerkzeugs (10) und/oder des Bördelelements (12) in eine Bördelrichtung (X) längs der Bördelkante (3),
  4. (d) und eine Medienversorgung für den Bördelantrieb (20),
  5. (e) einen Anschluss (6) zum Verbinden der Bördeleinheit (5) mit einer Trageinrichtung (9) zum Positionieren und Halten der Bördeleinheit (5) in einer relativ zum Bauteil (1) bestimmten Bördelposition,
  6. (f) wobei das Bördelwerkzeug (10) und der Bördelantrieb (20) innerhalb der Bördeleinheit (5) abgestützt sind, so dass eine zum Antreiben aufzubringende Antriebskraft und eine vom Bördelelement (12) zum Bördeln auf den Flansch (2) auszuübende Bördelkraft innerhalb der Bördeleinheit (5) aufgenommen werden,
  7. (g) und das Bördelwerkzeug (10) und der Bördelantrieb (20) integrierte Bestandteile der von der Trageinrichtung (9) als Einheit handhabbaren Bördeleinheit (5) sind.
• Aspekt 41. Bördeleinheit nach dem vorhergehenden Aspekt, wobei das Bördelelement (12) eine auf dem Flansch (2) abrollbare Bördelrolle (12) ist.
• Aspekt 42. Verfahren zum Bördeln eines Flansches eines Bauteils, vorzugsweise zum Falzen, bei dem
  1. (a) die in wenigstens einem der vorhergehenden Aspekte beschriebene Bördeleinheit (5) mittels einer Trageinrichtung (9), vorzugsweise einem Roboter, in einer Bördelposition relativ zum Bauteil (1) positioniert
  2. (b) und von der Trageinrichtung (9) in der Bördelposition gehalten wird,
  3. (c) während das Bördelwerkzeug (10) in einem Führungs- und Stützeingriff mit der Führungsstruktur (30) mittels des Bördelantriebs (20) der Bördeleinheit (5) in die Bördelrichtung (X) vorgetrieben und bei dieser Bewegung der Flansch (2) unter der Einwirkung des Bördelelements (12) um einen vorbestimmten Winkel umgelegt wird,
  4. (d) wobei eine vom Bördelantrieb (20) zum Vortreiben des Bördelwerkzeugs (10) ausgeübte Antriebskraft und eine vom Bördelelement (12) zum Umlegen auf den Flansch (2) ausgeübte Bördelkraft innerhalb der Bördeleinheit (5) aufgenommen werden.
• Aspekt 43. Verfahren nach dem vorhergehenden Aspekt, bei dem
  • die Trageinrichtung (9) ein Roboter mit einer Robotersteuerung ist, die den Roboter zur Positionierung der Bördeleinheit (5) steuert,
  • und eine Bördelsteuerung den Bördelantrieb (20) und/oder die in Aspekt 27 beschriebene Verstelleinrichtung (19) unabhängig von der Robotersteuerung steuert, optional geregelt steuert.
• Aspekt 44. Verfahren nach einem der zwei unmittelbar vorhergehenden Aspekte, bei dem eine vom Bördelantrieb (20) zum Vortreiben des Bördelwerkzeugs (10) ausgeübte Antriebskraft und eine vom Bördelelement (12) zum Umlegen auf den Flansch (2) ausgeübte Bördelkraft innerhalb der Bördeleinheit (5) von der Führungsstruktur (30) aufgenommen werden.

Also in the aspects formulated below, features of the invention will be described. The aspects are formulated in the nature of claims and can replace them. Features disclosed in the aspects may further supplement and / or relativise the claims, alternatives to identify individual characteristics and / or expand or specify claim characteristics. In parenthesized reference numerals refer to an embodiment illustrated below in figures. They do not restrict the features described in the aspects in the literal sense as such, but on the other hand show preferred possibilities of realizing the respective feature.

• Aspect 1. Crimping system for transferring a flange of a component by crimping, preferably for producing a rabbet joint, the crimping system comprising:
  1. (A) a hemming tool (10) with a flanging element (12) which can be lowered on the flange (2) for folding over the flange (2) along a flanged edge (3) of the component (1),
  2. (B) a hemming unit (5) with a guide structure (30) for guiding the hemming tool (10) along the hemming edge (3),
  3. (c) a crimping drive (20) for driving the crimping tool (10) and / or the crimping element (12) in a crimping direction (X) along the crimping edge (3),
  4. (d) and a media supply for the hemming drive (20),
  5. (e) a carrying device (9) for positioning and holding the hemming unit (5) in a hemming position determined relative to the component (1),
  6. (F) wherein the hemming tool (10) and the hemming drive (20) are supported inside the hemming unit (5) so that a driving force to be applied for driving and a hemming force to be exerted by the hemming member (12) for hemming on the flange (2) Bördeleinheit (5) are included,
  7. (G) and the hemming tool (10) and the hemming drive (20) are integrated components of the hemming unit (5) which can be handled as a unit by the carrying device (9).
• Aspect 2. Crimping system according to the preceding aspect, wherein the crimping tool (10) and the flanging drive (20) on a common tool carrier (11) are arranged, which is relative to the guide structure (30) along the flanged edge (3) movable.
• Aspect 3. Flanging system according to the preceding aspect, wherein the tool carrier (11) along the guide structure (30) and thereby along the flanged edge (3) is movable.
• Aspect 4. Crimping system according to one of the preceding aspects, comprising a connection (6) sufficiently tightly connected to the guide structure (30) for carrying, for mechanical connection with the carrying device (9).
• Aspect 5. Crimping system according to the preceding aspect, wherein the terminal (6) is immovably connected to the guide structure (30).
• Aspect 6. Crimping system according to one of the two immediately preceding aspects, wherein the terminal (6) for an automatic recording of the crimping unit (5) by the support means (9) is arranged.
• Aspect 7. Crimping system according to one of the preceding aspects, comprising a connection (6) connected to the guide structure (30) for supplying media to the hemming unit (5).
• Aspect 8. Crimping system according to one of the preceding aspects, wherein the crimping element (12) is a crimping roller (12) which can be unrolled on the flange.
• Aspect 9. Crimping system according to one of the preceding aspects, wherein the carrying device (9) is a robot, preferably an articulated-arm robot, for a fully automated positioning of the crimping unit (5)
• Aspect 10. Flanging system according to one of the preceding aspects, wherein the guide structure (30) together with a connection (6) for the carrying device (9) part of a connection and guide module (6, 30) and the crimping tool (10) and the flanging drive ( 20) are components of a tool and drive module (10, 20), wherein the tool and drive module (10, 20) in a guide engagement with a guide track (31) of the guide structure (30) and by means of the hemming drive (20) as a modular Unit in the guide engagement along the guide track (31) relative to the guide structure (30) is drivable.
• Aspect 11. Flanging system according to the preceding aspect, wherein the guide track (31) is modeled on the course of the flanged edge (3).
• Aspect 12. Crimping system according to one of the preceding aspects, wherein the guide structure (30) forms a guide track (31), which is preferably simulated the course of the flanging edge (3), and the crimping tool (10) and the flanging drive (20) each or the Beading tool (10) preferably together with the hemming drive (20) in a guide engagement with the guide track (31) guided along the flanged edge (3) is movable or are.
• Aspect 13. Crimping system according to one of the preceding aspects, wherein the guide structure (30) forms a guide track (31), which is preferably simulated the course of the crimping edge (3), and the crimping unit (5) connected to the crimping tool (10) engaging member (24, 25) which is in a guided engagement with the guide structure (30) on the guide track (31), so that the crimping tool (10) in the crimping position located flanging unit (5) in the guide engagement along the flanging edge (3) emotional.
• Aspect 14. Crimping system according to one of the preceding aspects, wherein the guide structure (30) forms a guide track (31), which is preferably simulated the course of the flanging edge (3), and the flanging tool (10) in a guide engagement of an engaging member (24, 25 ) and the guide track (31) along the guide track (31) is guided, so that the hemming tool (10) in the hemming position located flanging unit (5) in the guide engagement along the flanged edge (3) moves.
• Aspect 15. Crimping system according to one of the two immediately preceding aspects, wherein the engagement member (24, 25) comprises a guide beam (24) and engagement elements (25) disposed on the guide beam (24), spaced apart from one another and respectively connected to the guide structure (30) in FIG Are contact, and wherein the engagement elements (25) in such a number and arrangement are provided that the guide support (24) relative to the guide structure (30) only translationally along the guide track (31) can move.
• Aspect 16. Crimping system according to one of the three immediately preceding aspects, wherein the guide track (31) and the engagement member (24, 25) are pressed against each other in a first dovetail engagement and in a second dovetail engagement counteracting the first dovetail engagement transverse to the crimping direction (X). to form the guide engagement, and wherein the engagement member (24, 35) in the first dovetail engagement and in the second dovetail engagement in the crimping direction (X) comprises spaced engagement elements (25).
• Aspect 17. Crimping system according to one of the four immediately preceding aspects, wherein the engagement elements are engagement rollers.
• Aspect 18. Crimping system according to one of the preceding aspects, wherein the hemming tool (10), preferably also the hemming drive (20), is movably guided and supported in a guide engagement on the guide structure (30), so that at least a predominant part of the hemming force and / or or at least a major part of the weight of the crimping tool (10), preferably also of the crimping drive (20), is or are received in the guiding engagement.
• Aspect 19. A crimping system according to any one of the preceding aspects, wherein the crimping unit (5) comprises an engagement member (24, 25) connected to the crimping tool (10) which engages the guide structure (30) in a crimping force receiving support engagement and in support engagement relative to Guide structure (30) is movable, so that the hemming tool (10) is supported in the supporting engagement in the hemming direction (X) movable on the guide structure (30).
• 20. Crimping system according to one of the preceding aspects, wherein the crimping unit (5) comprises a protective structure (33) with a contact surface (34) which adjoins a surface of the component (1) bordering the flange (3) opposite the flange (2) ) adapted and to this surface (4) can be applied.
• Aspect 21. Crimping system according to the preceding aspect, wherein the abutment surface (34) of the protective structure (33) is strip-shaped.
• Aspect 22. Crimping system according to one of the two immediately preceding aspects, wherein the abutment surface (34) is formed on the guide structure (30), so that the guide structure (30) also forms the protective structure (33).
• Aspect 23. Crimping system according to one of the preceding aspects, wherein the hemming tool (10) and the hemming drive (20) are arranged to be movable together, wherein the hemming drive (20) comprises a motor (22), a drive wheel (23) drivable by the motor and a drive track (32) with a course of the flanged edge (3) simulated trajectory and wherein the drive wheel (23) in a frictional and / or positive engagement with the drive track (32), so that the drive wheel (23) together in rotary drive with the motor (22) and the hemming tool (10) along the drive track (32) moves.
• Aspect 24. The crimping system according to the preceding aspect, wherein the drive wheel (23) is a toothed gear with the drive track (32) and the drive track (32) has a toothing or preferably a chain or a toothed belt strip, the or Course of the drive track (32) is supported.
• Aspect 25. Crimping system according to the preceding aspect, wherein the drive track (32) formed as a toothing, chain or toothed belt strip is supported in the course of the drive track (32) on the guide structure (30).
• Aspect 26. Crimping system according to one of the preceding aspects, wherein the crimping element (12) is angularly adjustable relative to the guide structure (30).
• Aspect 27. Flaring system according to one of the preceding aspects, wherein the crimping element (12) is adjustably arranged on a tool carrier (11) of the crimping tool (10) and the crimping tool (10) has an adjusting device (13-19) for adjusting an angular position of the crimping element (13). 12) relative to the tool carrier (11).
• Aspect 28. Crimping system according to one of the preceding aspects, wherein
  • the hemming tool (10) comprises an adjusting track (16-18) and an adjusting member (13, 14) located in an adjusting engagement with the adjusting track (16-18),
  • the crimping element (12) is arranged on an adjusting path (16-18) and adjusting element (13, 14), preferably on the adjusting element (13, 14),
  • and an angular position of the crimping element (12) by a relative movement of the adjusting track (16-18) and adjusting member (13, 14) in the guide engagement of adjusting track (16-18) and adjusting member (13, 14) relative to the adjustment path (16-18) adjustable is
• Aspect 29. Crimping system according to the preceding aspect, wherein the crimping element (12) is stationary relative to the one of adjustment path (16-18) and adjusting member (13, 14).
• Aspect 30. Crimping system according to the preceding aspect, wherein the adjustment path (16-18) has a curved, preferably over an angle of at least 60 ° curved adjusting portion (16) for the adjustment of the angular position, an entry and exit section (18) and a ramp section (17), which connects the entry and exit section (18) via a ramp with the adjustment section (16).
• Aspect 31. Crimping system according to one of the three immediately preceding aspects, wherein the adjustment track (16-18) projects transversely to the crimping direction (X) beyond the guide structure (30) and is concavely curved with respect to the guide structure (30) and wherein the crimping element ( 12) is arranged at least in a working position in a region between the vertical trajectory (16-18) and the guide structure (30) and / or the protective structure (33) according to aspect 15 in order to increase the crimping force in the direction of the guide structure (30) and / or the protective structure (33) according to aspect 15 exercise.
• Aspect 32. Crimping system according to one of the preceding aspects, wherein the crimping element (12) relative to the guide structure (30) and / or the protective structure (33) according to aspect 20 so it is arranged that the crimping force exerted by the crimping element (12) on the flange (2) acts in the direction of the guide structure (30) and / or the protective structure (33) according to aspect 20.
• Aspect 33. Crimping system according to one of the preceding aspects, wherein the crimping unit (5) has a measuring device (27) for detecting the flange (2) and / or the crimping edge (3) and the measuring device (27) with the crimping tool (10) together is arranged movably, preferably on the hemming tool (10) is arranged.
• Aspect 34. Crimping system according to the preceding aspect, wherein the measuring device (27) on the crimping tool (10) is arranged so that the measuring device (27) the crimping edge (3) and / or the flange (2) from the side of the crimping element (12 ).
• Aspect 35. Crimping system according to one of the preceding aspects, wherein the carrying device (9) is a robot with a robot control for controlling and / or regulating movements of the robot, preferably an articulated arm of the robot, and the crimping system comprises a crimping control for the crimping drive (20). wherein the flanging control is independent of the robot control.
• Aspect 36. Beading system according to the preceding aspect, wherein the Bördelsteuerung of the robot controller is also realized spatially separated.
• Aspect 37. Crimping system according to one of the preceding aspects, comprising a crimping control which is adapted to control the crimping drive (20) and / or the adjusting device (19) described in aspect 27, optionally controllably controlled, wherein the carrying device (9) a robot with a robot control is and the flare control is adapted to control the flare drive (20) and / or the adjusting device (19) independently of the robot control, optionally controlled to control.
• Aspect 38. Crimping system according to the preceding aspect, wherein the crimping control is arranged spatially separated from the robot control or the robot.
• Aspect 39. A crimping system according to any one of the preceding aspects, wherein the crimping control and a motion control of the support means (9), preferably a robot control, are programmed or programmable controls and a crimping program of the crimping control is implemented independently of a control program of the motion control of the support means (9).
• Aspect 40. Beading unit for folding over a flange of a component, preferably for producing a seam connection, the hemming unit comprising:
  1. (A) a crimping tool (10) with a flanging element (12) which can be lowered on the flange (2) for folding over the flange (2) along a flanged edge (3) of the component (1),
  2. (b) a guide structure (30) for guiding the crimping tool (10) along the crimping edge (3),
  3. (c) a crimping drive (20) for driving the crimping tool (10) and / or the crimping element (12) in a crimping direction (X) along the crimping edge (3),
  4. (d) and a media supply for the hemming drive (20),
  5. (e) a connection (6) for connecting the hemming unit (5) to a carrying device (9) for positioning and holding the hemming unit (5) in a hemming position determined relative to the component (1),
  6. (F) wherein the hemming tool (10) and the hemming drive (20) are supported inside the hemming unit (5) so that a driving force to be applied for driving and a hemming force to be exerted by the hemming member (12) for hemming on the flange (2) Bördeleinheit (5) are included,
  7. (G) and the hemming tool (10) and the hemming drive (20) are integrated components of the hemming unit (5) which can be handled as a unit by the carrying device (9).
• Aspect 41. Beading unit according to the preceding aspect, wherein the crimping element (12) is a crimping roller (12) which can be unrolled on the flange (2).
• Aspect 42. Method of flanging a flange of a component, preferably for folding, in which
  1. (A) the hemming unit (5) described in at least one of the preceding aspects by means of a support device (9), preferably a robot, positioned in a hemming position relative to the component (1)
  2. (b) and held by the support means (9) in the flanging position,
  3. (C) while the crimping tool (10) in a guiding and supporting engagement with the guide structure (30) by means of the crimping drive (20) of the crimping unit (5) in the crimping (X) propelled and in this movement, the flange (2) under the Action of the hemming element (12) is folded over by a predetermined angle,
  4. (d) wherein a driving force exerted by the hemming drive (20) to drive the hemming tool (10) and a hemming force exerted by the hemming element (12) on the flange (2) are received within the hemming unit (5).
• Aspect 43. Method according to the preceding aspect, in which
  • the carrying device (9) is a robot with a robot controller that controls the robot for positioning the hemming unit (5),
  • and a hemming control controls the hemming drive (20) and / or the adjusting device (19) described in aspect 27 independently of the robot control, optionally controlled controls.
• Aspect 44. Method according to one of the two immediately preceding aspects, in which a driving force exerted by the hemming drive (20) to drive the hemming tool (10) and a hemming force exerted by the hemming element (12) on the flange (2) within the hemming unit (FIG. 5) are received by the guide structure (30).

Figur 1

ein Bördelsystem mit integrierter Bördeleinheit in Bördelposition an einem Bauteil,

Figur 2

die Bördeleinheit in Bördelposition,

Figur 3

einen Bördelbereich mit teilweise umgelegtem Bauteilflansch,

Figur 4

die Bördeleinheit und das Bauteil in einer rückwärtigen Sicht,

Figur 5

ein Werkzeug- und Antriebsmodul der Bördeleinheit,

Figur 6

die Bördeleinheit in perspektivischer Sicht, und

Figur 7

die Bördeleinheit in einer anderen Sicht.

Hereinafter, an embodiment of the invention will be explained with reference to figures. Features disclosed in the embodiment form each individually and in each feature combination the subjects of the claims and the aspects and also the embodiments explained above advantageous. Show it:

FIG. 1

a flanging system with integrated flanging unit in flanging position on a component,

FIG. 2

the flanging unit in flanging position,

FIG. 3

a crimping area with partially folded component flange,

FIG. 4

the flanging unit and the component in a rearward view,

FIG. 5

a tool and drive module of the flanging unit,

FIG. 6

the flanging unit in a perspective view, and

FIG. 7

the flanging unit in a different view.

The Figures 1 and 2 show a component 1 and a flanging unit 5, which is positioned in a flanging position relative to the component 1 and held by a support means 9 in the flanging position. The flanging unit 5 has a connection 6 for a mechanical connection to the carrying device 9. The connection 6 is designed for attachment to an articulated arm of a robot, preferably a conventional industrial robot, and has the geometry and connecting elements required for this, for example in the form of a customary connecting flange. Preferably, the terminal 6 is adapted for releasable attachment to a robot articulated arm. As support means 9 can thus serve in particular a Gelenkarmroboter. From the articulated arm robot is in FIG. 1 only the end of the gooseneck is shown. In FIG. 2 Although the flanging unit 5 also takes up the flanging position, ie is held by the carrying device 9, the carrying device 9 is not shown, so that the view of the connection 6 is free. The connection 6 can be set up so that the robot can attach and undock the flanging unit 5, ie can automatically pick it up and also store it again.

The crimping unit 5 is used for crimping a Radhausflansches an automobile body along a flanged edge. Beading can in particular serve to produce a folded seam connection.

FIG. 3 illustrates the production of a rabbet joint between the component 1 and a component 4. The component 1 is an outer panel of the body, and the component 4 is an internal surface structure of the body, for example, an inner panel. When folding an edge-side flange 2 of the component 1 is folded around a crimping edge 3 of the component 1 and thereby around an edge of the component 4, so that the component 4 projects after completion of the seaming in a folded pocket formed by the component 1 and due to a curved course of the Folding or flanged edge 3 is positively connected to the component 1. Folding joints of this type and their production in one or more folding steps are known in the art. In this regard, for example, on the EP 1 640 080 B1 to get expelled. FIG. 3 shows the conditions when folding schematically using the example of a Flachfalzes, while in the other figures for the embodiment, a crimping element 12 is shown with a cone-cylindrical circumference for the preparation of a drop flange.

FIG. 4 shows the component 1 in a rear view of the already partially folded flange 2. From in FIG. 1 shown outer panel or component 1, only the already folded flange 2 and the flanged edge 3 can be seen, around which the flange 2 is folded. The component 4, the inner surface structure, protrudes along the flanged edge 3 in the fold pocket formed by the crimping. Of the hemming unit 5 only one projecting into the wheel arch part can be seen, on which a beading element 12, which acts directly on the flange 2 for crimping, is arranged. The crimping element 12 is a crimping roller, which rolls on the flange 2 during crimping, while exerting the crimping force required for repositioning on the flange 2 and thereby surrounds this by a certain angle. The flipping over of the flange 2 can be carried out in a single crimping step or, as in the exemplary embodiment, in a plurality of successively executed crimping steps. In order to shift the flange 2 in several steps, the crimping element 12 is arranged in the crimping unit 5 angularly adjustable. Unlike in the prior art, an angle of attack which the crimping element 12 has relative to the component 1 is not changed by means of a robot, but by the adjustment of an angle of attack which the crimping element 12 has relative to a tool carrier 11 of the crimping unit 5. The flanging element 12 is thus arranged angularly adjustable on the flanging unit 5.

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

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

The tool and drive module 10, 20 is self-propelled due to the integrated hemming drive 20. The flanging drive 20 drives the tool and drive module 10, 20 during beading along the guide track 31 in a flanging direction, so that the flanging element 12 its Angle of attack corresponding to the flange 2 along the flanged edge 2 in the flanging continuously folded.

The tool and drive module 10, 20 is movably supported on the guide structure 30. The guide structure 30 carries the tool and drive module 10, 20, so takes on its weight, and also takes on the applied for the propulsion drive force and applied for the bead flanging force. The support is in the guiding engagement of the guide structure 30 and tool and drive module 10, 20 and can also be done in a drive engagement of a fixedly connected to the guide structure 30 drive track 32 with the hemming drive 20. In principle, however, the functions of guiding and supporting on the guide structure 30 can also be realized separately from one another, but preference is given to the combined supporting and guiding engagement since this reduces the volume and in particular also the weight of the flanging unit 5 in relation to a separation of the functions can.

The drive track 32 follows the course of the guide track 31. In the exemplary embodiment, the tracks 31 and 32 are arranged parallel and in a direction transverse to the flanging side by side. In a modification, for example, they can be arranged nested one inside the other. In yet another modification, the guideway 31 in dual function can also form the drive track 32, so that guide engagement and drive engagement coincide. Since the drive engagement of connection and guide module 6, 30 and tool and drive module 10, 20 is preferably based on positive engagement, while the guide track 31 is preferably smooth, a spatial separation of the guide track 31 and drive track 32 is preferred, the two tracks 31 and However, 32 advantageously for the purpose of saving volume and weight directly next to each other or on top of each other.

The connection and guide module 6, 30 further comprises a protective structure 33, with which it abuts the component 1 in the flanging position in a component region opposite the flanging edge 3 as viewed from the flange 2. The protective structure 33 has an abutment surface in the crimping position on the component 1, which is formed adapted to said component region. The protective structure 33 can be used as regards the protective function of the protective structure of the EP 1 640 080 B1 correspond. In contrast to this, however, the protective structure 33 is immovably connected to the guide structure 30. In the exemplary embodiment, guide structure 30 and protective structure 33 are embodied in one piece, for example separately formed and fixedly arranged with one another or preferably already formed in a process of the common primary shaping and optionally finished.

The drive track 32 may also be formed in a common process of forming with the guide structure 30. The guide structure 30 and the drive track 32, optionally also the protective structure 33 can be formed in one piece in a common process of primary shaping, wherein a finishing can follow the primary shaping in order to ensure the required precision for the respective structure or webs 30 to 33. In a further development, which is realized in the embodiment, the drive track 32 is formed directly but by a chain which is attached to the guide structure 30 at least in Kettenendbereichen and supported by a immovably connected to the guide structure 30 support track on their course. The support track may be immovably joined to the guide structure 30, or may preferably be formed in a process of forming the pattern on the guide structure 30, and thereafter, if necessary, finished. The use of a chain or instead of a toothed belt strip is used to achieve a positive drive engagement with the hemming drive 20 and granted within the form flexibility of a chain or a timing belt design freedom with respect to the course of the drive track 32. The drive track 32 follows, as already mentioned, the guide track 31, which is simulated the course of the flanged edge 2 and therefore how this can be multi-dimensionally curved in many applications, in particular also when Radhausfalzen, so can bend around axes not parallel to each other. Would the drive track 32 be provided as non-compliant gearing directly to the guide structure 30, which would be possible in principle, the teeth would also have to curl in said applications to non-parallel axes. However, the manufacturing cost of such gearing significantly exceeds the cost of implementing the drive path as compared to using a chain or timing belt strip.

The guide structure 30, including the contact surface facing the component 1 and the drive track 32, is embodied as a narrow strip imitating the course of the flanged edge in order to save weight. According to the course of the flanging edge 2 of the embodiment, the guide structure 30 is bow-shaped and can also be referred to as a guide bracket.

On the guide structure 30 can, as in the Figures 1 and 2 recognizable, a fixing device with one or more fixing elements 29 may be arranged. If the connection and guide module 6, 30 is configured with a fixing device, however, the fixing device is not required to support the weight of the flanging unit 5 on the component 1. By means of an optional fixing device with one or more fixing elements 29 which are arranged spaced apart along the guide track 31, however, the flanging unit 5 positioned and held in the flanging position by means of the carrying device 9 can move with higher precision relative to the component 1 be fixed. A fixing device can serve, in particular, to tension the belt edge 2 relative to the guide structure 30 in order to compensate for manufacturing tolerances of the component 1.

FIG. 5 shows the tool and drive module 10, 20 detached from the connection and guide module 6, 30. The hemming tool 10 comprises the tool carrier 11, on which the crimping bead formed as a crimping element 12 is arranged angularly adjustable, and arranged on the tool carrier 11 adjustment 19 for the angular adjustment of the crimping element 12. X, Y and Z are the mutually orthogonal axes of a stationary relative to the tool carrier 11 coordinate system. The X-axis is parallel to the local flaring direction, which changes over the course of the guide track 31. If the crimping element 12 is designed as a crimping roller, the axis of rotation R of the crimping roller is preferably orthogonal to the crimping direction, ie to the X-axis of the crimping tool 10. The crimping force acts at least substantially orthogonally to the crimping direction and orthogonal to the rotational axis R.

The crimping element 12 is angularly adjustable relative to the tool carrier 11 in order to be able to adjust the angle of attack which the crimping element 12 has during beading relative to the flange 2 immediately before the execution of the respective crimping operation in the Y-Z plane of the crimping tool 10. Within the scope of the angular adjustability, the flanging element 12 is an axis parallel to the respective local flanging direction, i. swiveling around a tool's own X-axis.

To adjust the angle of attack of the crimping element 12, the crimping tool 10 has an adjustment structure 15 with an adjustment track 16-18. The crimping element 12 is rotatably mounted on an engagement member having a crimping element carrier 13 with engagement elements 14, which are in a guide engagement with the adjustment structure 15, in which the engagement member 13, 14 guided with the crimping element 12 along the adjustment path of the guide structure 15 movable and thereby is adjustable in angle. The engagement elements 14 may be in particular engaging rollers as in the embodiment.

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

The adjustment path 16-18 has, beyond the adjustment section 16, an entry and exit section 18 and a ramp section 17, which connects the entry and exit section 18 with the adjustment section 16. In FIG. 5 takes the hemming element 12 with respect to the guide structure 15 and the adjustment path 16-18 an end position which occupies the Bördelemement 12 in finish crimping or Fertigfalzen, ie to perform the last crimping step, in which the flange 2 completely folded and against the in the finished folding pocket projecting edge of the component 4 ( Figures 2 and 3 ) is pressed. After execution of this last crimping step, the engagement member 13, 14 with the crimping element 12 arranged thereon is moved in the adjustment engagement along the adjustment section 16 via the ramp section 18 into engagement with the entry and exit section 18. When the engagement member 13, 14 descending into the adjustment and retraction portion 18 has reached the adjustment path 16-18 after being crimped in the adjustment engagement, the crimping unit 5 is moved out of the crimping position by means of the support device 9 and is available for the crimping of a next component 1 ,

In an extended position, which occupies the engaging member 13, 14 before the beginning and after completion of the crimping of the respective component 1, the engaging member 13, 14 in a rear area with the on and Ausfahrabschnitt 18 and in a front region with the adjusting section 16 in engagement. In between, the connecting ramp section 17 runs. If the flanging unit 5 is positioned on the component 1 in the flanging position, the engaging member 13, 14 is extended with its rear area out of the entry and exit section and completely retracted into the adjustment section 16 via the ramp section 17. The engaging member 13 and 14 and thus the flanging 12 perform in this retraction movement a tilting movement about a tool's own X-axis. Due to the tilting movement, the crimping element 12 comes into contact with or at least in the immediate vicinity of the flange 2.

For the adjustment of the crimping element 12, the crimping tool 10 has an adjusting drive 19, which may be in particular a linear drive. The linear drive can be formed as a fluidic drive. It is preferably an electric drive. The adjustment drive 19 is connected by means of a linkage with the engagement member 13, 14 to compensate for the execution of adjustment movements relative movements between the engaging member 13, 14 and the adjustment 19 can. In addition to or instead of an articulated connection by means of linkage, the adjusting drive 19 can also be supported on the tool carrier 11 in a pivotable manner.

As already mentioned, the tooling and drive module 10, 20 comprises the flanging drive 20. The flanging drive 20 comprises a drive carrier 21, a motor 22 supported on the drive carrier 21 and a drive wheel 23 which can be driven by means of the motor 22 and which forms an externally toothed spur gear. The drive wheel 23 is arranged coaxially with a motor shaft of the motor 22, but in principle other arrangements are possible. Although the drive wheel 23 may be arranged torsionally rigidly directly on the motor shaft, more preferably it is connected by means of a reduction gear to the motor shaft. The drive carrier 21 is supported on the tool carrier 11. Although tool carrier 11 and drive carrier 21 may in principle already be made in one piece in a process of forming the original, they are expediently formed separately and firmly joined together. The drive wheel 23 is connected to the drive track 32 (FIG. FIG. 1 ) in positive drive engagement. In drive engagement, the drive wheel 23 and drive track 32, such as pinion and chain or gear and timing belt, cooperate.

The crimping unit 5 is associated with a crimping control, which controls the crimping drive 20 and the adjusting drive 19, optionally controlled controls. It gives the two drives 19 and 20, the control signals, after which the hemming drive 20, the crimping tool 10 and in the specific embodiment, the tool and drive module 10, 20 moves relative to the guide structure 30 and positioned and the adjustment 19, the crimping element 12 relative to the tool carrier 11th adjusted. The flanging control works independently. If a robot forms the carrying device 9, it works independently of a robot controller. However, it can nevertheless be arranged on the robot, but because of its autonomous mode of operation it may advantageously be arranged spatially separated from the robot controller or also by the robot. However, it may be coupled with the robot controller so as to receive a start signal from the robot controller when the hemming unit 5 assumes the hemming position and / or when the hemming on the respective component is completed, the robot controller gives up an end signal. The star signal and / or the end signal can also be output by a higher-level production control. The Bördelsteuerung can control the flanging yet another execution in a clocked series production but also the clock accordingly only in dependence on the predetermined cycle time, so that can be dispensed with the mentioned start / end communication.

The crimping element 12 can be adjusted in the adjusting engagement along the adjustment section 16 in different, discretely predetermined angular positions in order to successively reposition the flange 2 in a plurality of crimping steps corresponding to an angular position assigned to the respective crimping step. In a further development, instead of or in addition to a specification of discrete angular positions, the flanging control can be set up to continuously adjust the angular position of the flanging element 12 within the entire adjustment range or only within a part of the entire adjustment range predetermined by the adjustment section 16. So can one Control for the crimping unit 5 advantageously be adapted to adjust the angular position of the crimping element 12 during the crimping and dynamically continuously in this sense, for example, to generate a continuously expiring flange 2 at one or both longitudinal ends of the crimping edge 3, so that the Folding pocket opens continuously.

For the guiding engagement with the guide structure 30, the tool and drive module 10, 20 further comprises an engaging member formed in the manner of a trolley with a guide carrier 24 serving as a module carrier and engagement elements 25 formed as guide rollers. More specifically, the engaging member 24, 25 comprises two trolleys, which are arranged opposite each other in a clearance and each relative to the tool carrier 11, it can be seen from the rotational mobility of the engagement elements 25 from immovable.

In FIG. 6 the guiding engagement and the drive engagement of the tool and drive module 10, 20 and guide structure 30 are clearly visible. With respect to the guide engagement, only the engagement of a trolley of the engagement member 24, 25 can be seen. The conditions are the mirror image of the underside of the guide structure 30 with the engaged there in the guide engagement member 24, 25 the same. In the FIGS. 6 and 7 Furthermore, the protective structure 33 formed directly on the guide structure 30 with the contact surface 34 adapted to the component 1 (FIG. FIG. 7 ) and the drive track 32 recognizable. The drive track 32 can, as already mentioned, be formed by a chain which, however, is not shown. The chain may expediently be arranged in a groove 35 of the guide structure 30 and thus not only supported on a support track 36 on an underside facing away from the drive wheel 23 in guiding engagement, but also guided laterally in the groove 35.

The guiding engagement is performed as a double dovetail engagement. The guide track 31 is accordingly composed of a first pair of guide track segments 31 inclined relative to one another in the cross section of the guide structure 30 and a second pair of guide track segments 31 likewise inclined relative to one another. The two pairs of guide track segments 31 are opposite to each other and perpendicular to the flaring direction X from each other formed on the guide structure 30. The engagement elements 25 are the respective associated path segment of the guide track 31 rotatably arranged on the guide support 24 corresponding to relatively inclined axes of rotation. The double dovetail engagement ensures a particularly firm support and precise guidance of the tool and drive module 10, 20 on the guide structure 30. The guiding engagement is referred to as dovetail engagement in view of the engagement member 24, 25 encompassing the guide structure 30 and more particularly its guideway 31, although the engagement members 25 forming the encasement are preferably rollers.

It should also be noted with regard to guiding intervention and adjustment intervention that both interventions are respectively formed by engagement rolling elements, namely the engagement elements 14 of the adjustment attack and the engagement elements 25 of the guiding engagement. Although this is in view of the friction conditions and the wear of advantage, in principle, however, the adjustment and / or the guide engagement could be formed as a sliding engagement.

The adjusting structure 15 protrudes with its adjustable portion 16, optionally also with the ramp section 17 or even the input and output section 18, transversely to the crimping direction X via the guide engagement, i. about the guide structure 30 before. The adjustment section 16 is concavely curved with respect to the guiding engagement of the guide structure 30 and the tool and drive module 10, 20 and may, in particular, face the guide engagement, as in the exemplary embodiment. The crimping element 12 is arranged in a region between the adjustment path 16-18 and the guide engagement. This embodiment is advantageous in particular for the Radhausbördeln- or fold, since the hemming unit 5 is positioned and held on the component 1 outside in the hemming position, while the hemming element 12 in the wheel arch for beading at least for finish crimping from the inside to the outside, in the direction of the guide structure 30th or the optional protective structure 33 acts.

The crimping unit 5 preferably comprises a protective structure with a contact surface which abuts on the outside in the crimping position on the component 1 in the folded flange 2, such as the protective structure 33 can be shared with the supporting device 9 by a support, which counteracts the crimping force in preferred embodiments the crimping element 12 in the crimping direction movable counter element are dispensed with. If the carrying device only absorbs the weight of the flanging unit 5, a fixing device for receiving the flanging force is preferably additionally provided. Such a fixing device can be provided externally to support the flanging unit 5 in relation to the component 1, counteracting the crimping force. In principle, however, it should also not be ruled out that the carrying device only carries the weight of the crimping unit 5 during crimping and the support of the crimping force is effected by a fixation on the component 1.

At the tool and drive module 10, 20 may be arranged a measuring device, for example as in FIG. 7 illustrated by the reference numeral 27. With the measuring device 27, the flange 2 and / or the flanged edge 3 can be detected before and / or during and / or after flanging. For a preferably optical detection of the flange 2 and / or the flanged edge 3, the measuring device 27 can have a laser and a receptacle for the light radiated by the laser onto the flange 2 and / or the flanged edge 3 and reflected from there to the receptacle. With an optical measuring device 27, the flange 2 and / or the flanged edge of the third be measured in particular by means of a triangulation method. The recording device can be set up for a continuous recording or for a snapshot of the reflected laser light. The recording device may in particular be a video camera. The signal emitter, such as a light source and in particular a laser, and the receiving device are advantageously in close proximity to each other and preferably arranged in a common housing, as is also the case in the embodiment. The measuring device 27 can in particular be arranged in an area projecting beyond the guide engagement, in the exemplary embodiment in the region of the adjusting structure 15, in order to be able to grasp the flange 2 and / or the flanged edge 3 during wheel flange crimping or folding from the inside out of the wheel arch ,

The metrological detection of the flange 2 and / or the flanged edge 3 can serve for measuring the flanging system and / or a quality control of the flanged component 1. If the carrying device 9 is a robot, as preferred, the robot can adjust the crimping position to the particular component 1 to be processed in accordance with the result of a calibration individually and thereby particularly precisely. The flanging unit 5 can thus take into account the production-related features of the respective component, i. taking into account the geometry deviations existing from component to component within the scope of manufacturing tolerances.

Reference numerals:

1

component

2

flange

3

flanging

4

component

5

hemming

6

Connection for carrying device

7

-

8th

-

9

support means

10

Flaring

11

tool carrier

12

beading

13

Bördelelementträger

14

engaging member

15

adjustment structure

16

adjustment section

17

ramp section

18

Entry and exit section

19

adjustment

20

bordering drive

21

drive carrier

22

engine

23

drive wheel

24

guide support

25

engaging member

26

-

27

measuring device

28

-

29

fixing

30

management structure

31

guideway

32

drive train

33

protective structure

34

contact surface

35

groove

36

support web

R

axis of rotation

X, Y, Z

Coordinate system of the tool

Claims (16)

1. A flanging system for beading a flange of a component part by flanging it, preferably in order to produce a hemmed connection, the flanging system comprising:

   (a) a flanging tool (10) comprising a flanging element (12) which can run off on the flange (2) in order to bead the flange (2) along a flanging edge (3) of the component part (1), and which is preferably a flanging roller (12) which can roll off on the flange (2);

   (b) a flanging unit (5) comprising a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3);

   (c) a flanging drive (20) for driving the flanging tool (10) and/or the flanging element (12) in a flanging direction (X) along the flanging edge (3);

   (d) a media supply for the flanging drive (20); and

   (e) a bearing device (9) for positioning and holding the flanging unit (5) in a particular flanging position relative to the component part (1);

   (f) wherein the flanging tool (10) and the flanging drive (20) are supported within the flanging unit (5), such that a drive force to be applied for the purpose of driving and a flanging force to be exerted on the flange (2) by the flanging element (12) for the purpose of flanging are absorbed within the flanging unit (5),

   (g) and the flanging tool (10) and the flanging drive (20) are integrated components of the flanging unit (5) which can be handled as a unit by the bearing device (9),
   characterised in that

   (h) the flanging unit (5) comprises an abutment area (34) which is formed on the guide structure (30) and which is shaped so as to conform to and can be placed onto a surface of the component part (1) which borders the flanging edge (3) opposite the flange (2).
2. The flanging system according to the preceding claim, wherein the bearing device (9) is a robot comprising a robot controller for controlling and/or regulating movements by the robot, preferably a jointed arm of the robot, and the flanging system comprises a flanging controller for the flanging drive (20) and/or for an adjusting device (19) described in Claim 3, wherein the flanging controller is designed to control the flanging drive (20) and/or adjusting device (19) independently of the robot controller, optionally in a regulated manner, and is preferably arranged such that it is spatially separated from the robot controller.
3. The flanging system according to any one of the preceding claims, wherein the flanging element (12) is arranged such that it can be adjusted relative to a tool support (11) of the flanging tool (10), and the flanging tool (10) comprises an adjusting device (13-19) for adjusting an angular position of the flanging element (12) relative to the tool support (11).
4. The flanging system according to any one of the preceding claims, wherein:

   - the flanging tool (10) comprises a curved adjusting track (16-18) and an adjusting member (13, 14) which is in adjusting engagement with the adjusting track (16-18);

   - the flanging element (12) is arranged on one of the adjusting track (16-18) and the adjusting member (13, 14), preferably spatially fixed with respect to said one of the adjusting track (16-18) and the adjusting member (13, 14);

   - and an angular position of the flanging element (12) can be adjusted relative to the adjusting track (16-18) by a relative movement between the adjusting track (16-18) and the adjusting member (13, 14) in the guiding engagement between the adjusting track (16-18) and the adjusting member (13, 14).
5. The flanging system according to the preceding claim, wherein the adjusting track (16-18) comprises: a curved adjusting portion (16), which is curved by an angle of at least 60°, for adjusting the angular position; a retracting and extending portion (18); and a ramp portion (17) which connects the retracting and extending portion (18) to the adjusting portion (16) via a ramp.
6. The flanging system according to any one of the immediately preceding two claims, wherein the adjusting track (16-18) protrudes beyond the guide structure (30) transverse to the flanging direction (X) and is curved concavely in relation to the guide structure (30), and wherein the flanging element (12), at least in its processing position, is arranged in a region between the adjusting track (16-18) and the guide structure (30) and/or the protective structure (33) according to Claim 12, in order to exert the flanging force in the direction of the guide structure (30) and/or the protective structure (33) according to Claim 12.
7. The flanging system according to any one of the preceding claims, wherein the flanging tool (10) and the flanging drive (20) are arranged on a shared tool support (11) which can be moved relative to the guide structure (30) along the flanging edge (3) and preferably also along the guide structure (30).
8. The flanging system according to any one of the preceding claims, wherein the guide structure (30) forms a guide track (31), and the flanging tool (10) can be moved, preferably together with the flanging drive (20), while being guided in a guiding engagement with the guide track (31) along the flanging edge (3).
9. The flanging system according to the preceding claim, wherein the flanging tool (10) is guided along the guide track (31) in a guiding engagement between an engaging member (24, 25) and the guide track (31), and the engaging member (24, 25) comprises a guide support (24) and engaging elements (25) which are arranged on the guide support (24) and spaced from each other and which are respectively in contact with the guide structure (30) in order to form the guiding engagement, and wherein the engaging elements (25) are provided in a number and arrangement such that the guide support (24) can only move translationally along the guide track (31) relative to the guide structure (30).
10. The flanging system according to any one of the immediately preceding two claims, wherein the guide track (31) and the engaging member (24, 25) are pressed against each other in a first dovetail engagement and in a second dovetail engagement which acts counter to the first dovetail engagement, transverse to the flanging direction (X), in order to form the guiding engagement, and wherein the engaging member (24, 25) comprises engaging elements (25) which are spaced from each other in the flanging direction (X) in the first dovetail engagement and in the second dovetail engagement.
11. The flanging system according to any one of the preceding claims, wherein the flanging tool (10), and preferably also the flanging drive (20), is/are supported and movably guided on the guide structure (30) in a guiding engagement, such that the flanging force and/or the weight of the flanging tool (10), and preferably also the flanging drive (20), is/are at least predominantly absorbed in the guiding engagement.
12. The flanging system according to any one of the preceding claims, wherein the guide structure (30) comprises a protective structure (33) comprising the abutment area (34).
13. The flanging system according to any one of the preceding claims, wherein the flanging tool (10) and the flanging drive (20) are arranged such that they can be moved together, wherein the flanging drive (20) comprises: a motor (22); a drive wheel (23) which can be driven by the motor (22); and a drive track (32) exhibiting a track profile which matches the profile of the flanging edge (3); and wherein the drive wheel (23) is in a frictional-fit and/or positive-fit engagement with the drive track (32), such that the drive wheel (23) moves along the drive track (32) when rotary-driven together with the motor (22) and the flanging tool (10), and wherein the drive track (32) preferably comprises a chain or toothed belt strip which is supported in the profile of the drive track (32), preferably on the guide structure (30).
14. The flanging system according to any one of the preceding claims, wherein the flanging unit (5) comprises a measuring device (27) for detecting the flange (2) and/or flanging edge (3), and the measuring device (27) is arranged such that it can be moved together with the flanging tool (10), preferably on the flanging tool (10) and preferably such that the measuring device (27) detects the flanging edge (3) and/or flange (2) from the side of the flanging element (12).
15. A method for flanging a flange of a component part using a flanging system according to any one of Claims 1 to 14, wherein:

    (a) the flanging unit (5) is positioned in a flanging position relative to the component part (1) by means of a bearing device (9), preferably a robot,

    (b) and held in the flanging position by the bearing device (9), wherein the bearing device (9) at least predominantly bears the weight of the flanging unit (5),

    (c) while the flanging tool (10) is advanced in the flanging direction (X) by means of the flanging drive (20) of the flanging unit (5) in a guiding and supporting engagement with the guide structure (30) and, during this movement, the flange (2) is beaded by a predetermined angle by the action of the flanging element (12),

    (d) wherein a drive force exerted by the flanging drive (20) for advancing the flanging tool (10) and a flanging force exerted on the flange (2) by the flanging element (12) for the purpose of beading are absorbed within the flanging unit (5), preferably by the guide structure (30).
16. The method according to the preceding claim, wherein:

    - the bearing device (9) is a robot comprising a robot controller which controls the robot for positioning the flanging unit (5);

    - and a flanging controller controls the flanging drive (20) and/or the adjusting device (19) described in Claim 3 independently of the robot controller and optionally in a regulated manner.

Images