JP2018506431A - Flanging system, flanging unit, and flanging method for autonomous flanging - Google Patents

Abstract

A flanging system for folding a component flange by flanging, preferably to form a folding joint, the flanging system comprising: (a) the component (1) A flanging tool (10) having a flanging element (12) movable on the flange (2) along the flanged edge (3), preferably a flanging roller (12) rotatable on the flange; and (b) A flanging unit (5) having a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3); and (c) the flanging tool (10) and / or flanging. A flag for driving the element (12) along the flanging edge (3) in the flanging direction (X) Positioning the flanging unit (5) at a specific flanging position relative to the component (1), and (e) a medium supply for the flanging drive (20), (d) and the flanging drive (12) And (f) a flanging tool (10) and a flanging drive (20) comprising a driving force applied for driving purposes and a flanging element for flanging purposes. (12) is supported in the flanging unit (5) so that the flanging force to be exerted on the flange (2) is absorbed in the flanging unit (5), and (g) a flanging tool (10). And the flanging drive (20) is an integral part of the flanging unit (5) which can be treated as a unit by the support device (9). System.

Description

  The present invention relates to a flanging system, a flanging unit, and a flanging method for autonomous flanging of components. A preferred field of application is vehicle construction, in particular automotive engineering.

  The flanging is preferably performed on the body part or body of a vehicle, in particular an automobile. The system and method according to the invention and the flanging unit according to the invention are particularly useful in flanging an already assembled vehicle body. During flanging, the component flanges are partially or fully folded along the flanging edge in a single step or in several successive steps. The invention is particularly useful in folding, i.e. in forming a folded connection of at least two components. The term “flanging” includes folding and further bending of the flange without a joining step.

  In the continuous production of automobiles, the vehicle body is generally flanged by a robot arranged along a production line that continuously conveys the vehicle body. In preferred applications, such an initial position is also present in the present invention.

  During flanging, the flanging element exerts a force on the flange of the component to be folded, via the flanging tool, which in principle is absorbed by the correspondingly dimensioned component. In most applications, it is absorbed by the counter element. If the flanging element and the counter element are moved in opposite directions along the flanging edge, the component may be pulled out by contact with the counter element. Slight scratches and scratches are noticeable when moving the counter element along the surface of the component that forms the visible surface of the subsequently finished component.

  In order to avoid this type of damage, U.S. Pat. No. 6,057,049 discloses a protective structure that is applied on the surface of a component opposite the flange to absorb the flanging force exerted by the flanging element during flanging. Use is suggested. On the opposite side away from the component, the protective structure forms a roller track for the counter element intended as a counter roller. In this way, the force flow between the flanging element and the counter element in the flanging tool is closed by the protective structure, in which case the protective structure cannot move relative to the component and is therefore counteracted. Protect components from any adverse effects from the elements. For the same purpose, U.S. Pat. No. 6,057,017 discloses that the protective structure additionally performs a specific guiding function for the flanging tool, while instead being movable protection positioned on the component by the robot. In patent document 3 which describes a structure, the protection structure fixed to a predetermined position is proposed.

  The flanging tool is usually attached to the articulated arm of a robot as disclosed in the prior art described above. The robot moves the tool along a predetermined track, which simulates the path of the flanging edge and is stored in a programmable robot controller. Industrial robots are commonly used in continuous production, but are also used in other applications. These industrial robots are articulated arm robots, and these articulated arm robots are available from various manufacturers, so to speak, they are readily available, but are made for specific applications. Not. The user or manufacturer of the flanging tool handled by the robot must set up the robot according to a specific flanging case, usually by programming the robot controller. Experts who need to know not only the characteristics of the flanging and the characteristics of each flanging tool but also the details of the robot controller and its programming are required for the setting.

European Patent Application Publication No. 1 640 080 European Patent Application Publication No. 2 108 466 European Patent Application Publication No. 2 276 590

  The object of the present invention is to simplify automatic flanging without sacrificing accuracy.

  The subject of the present invention is a flanging system and a flanging method for flanging a flange of a component, preferably by flanging to form a folded joint. The flanging system comprises a flanging tool having a flanging element, which may be moved along the flanging edge of the component along the flange to fold the flange. The flanging element may basically be a flanging guide element, which slides along the flanging edge to fold the flange. More preferably, however, the flanging element is a flanging roller that rolls along the flanging edge on the flange during flanging. The flanging system has a flanging unit having a guide structure for guiding a flanging tool along the flanging edge and positions and holds the flanging unit at a flanging position determined relative to the component. And a support device. The flanging unit may be handled as a unit by the support device, in particular the flanging unit may be positioned relative to the component. Preferably, the flanging unit may be applied to the component along the flanging edge and comprises a contact surface adapted to the surface of the component, the contact surface comprising a flanging on the component In position, the surface of the component abuts flat. The support device is also designed to hold the flanging unit in a position preferably relative to the component, i.e. in a flanging position suitable for flanging. The support device correspondingly absorbs the weight of the flanging unit. The component is at least substantially free from the weight of the flanging unit.

  The flanging drive and the media supply for the flanging drive (energy and signal supply) are further components of the flanging system. The flanging drive is designed to drive the flanging tool in the flanging direction along the flanging edge, i.e. to provide advancement of the flanging tool and thus the flanging element. If the flanging element is designed as a flanging roller, the flanging drive acts directly on the roller so that the direct drive flanging roller comprises a carrier that rotatably supports the flanging element in the flanging direction. It may be a rotary drive. However, it is preferred that the flanging tool supports a flanging element designed as a flanging roller that may be driven freely in the flanging direction by a flanging drive, in particular including the flanging element.

  According to the present invention, the flanging tool and the flanging drive are supported in the flanging unit, so that the driving force required to drive the flanging tool and / or the flanging roller directly is reduced. Therefore, the flanging force to be exerted by the flanging element on the flange is at least substantially, preferably completely absorbed, in the flanging unit. The flanging tool and flanging drive are integral components with the flanging unit that may be handled as a unit by the support device. By incorporating the guide structure, flanging tool, and flanging drive into a flanging unit that may be treated as a unit, the present invention provides a completely new functional assignment. Although the prior art flanging tool is moved along the flanging edge by a robot, the present invention may be practiced without such a robot, or the flanging element to follow the path of the flanging edge Remove the complicated task of moving the robot in space from the robot in place. It is taken into account that the flanging edge has a multidimensional shape, in many applications a three-dimensional shape, i.e. the flanging edge may be bent around about two or three mutually orthogonal spatial axes. Should. The function of the guide is performed in the flanging unit and does not need to be replaced by a robot and programming. Besides supporting the flanging unit as a whole, the unit is independent of external auxiliary devices such as robots in the function of enabling flanging and guiding and driving in the flanging unit, In this sense, it represents autonomous flanging.

  However, preferably the robot present at the place of use may form the support device. If the robot is preferably an articulated arm robot, such as an industrial robot used in a vehicle structure, the articulated arm robot is designed to flang in a flanging position with respect to the components. It is only necessary to position and hold the flanging unit together with the flanging tool and the flanging drive. Therefore, the robot configuration is simplified, but on the other hand, it is not necessary to support the guide structure, and further, it is not necessary to support the entire flanging unit, or only a slight weight part of the flanging force is used. By not having to absorb, the component is released. Preferably, the main part (most) absorbs more than 90% of the flanging unit weight, more preferably more than 95% of the flanging unit weight is absorbed by the support device. The risk of distortion of the components under the weight of the structure used in flanging is reduced. Robotic flanging tools due to the resilience and other positioning inaccuracies that exist in the robot's articulated arm, such as occurs in a flanging unit positioned from advancing and guiding the flanging element during flanging There can be no inaccuracies that can occur during the movement of the.

  The flanging unit may preferably be arranged to be fixed in the production line for the continuous production of the vehicle body or body parts of the vehicle. In such an embodiment, the positioning of the correspondingly fixed support device is that the component performs the movement required for accurate positioning. Optionally, in addition or alternatively, the fixed support device may be arranged to fine-tune the flanging unit with respect to the components moved to the flanging unit.

  However, in a preferred embodiment, the flanging unit is a movable unit that may be moved spatially by the support device and is positionable relative to the component. In such an embodiment, the support device may be an auxiliary device that absorbs only the weight of the flanging unit, while the flanging unit supported by the support device is by a person, ie manually or , Positioned relative to the component in the flanging position by a separate positioning unit and maintained in the flanging position by the support device. The auxiliary support device may comprise, for example, one or more support straps that hang from the ceiling or other high platform in the area of flanging and are movable or movable on the ceiling or platform. Placed in. A non-driven cradle with an electric deck crane or harness attached may form such an auxiliary support device, if desired, only a single transport strap. A suitable auxiliary support device is also known under the name “balancer”.

  However, in a preferred embodiment, the robot forms the support device. In particular, the robot may be an articulated arm robot, for example an industrial robot as commonly used in vehicle construction. In principle, however, the robot may be designed differently as long as it can perform the holding function and has the necessary mobility to position the flanging unit.

  In a preferred embodiment, media supply for the flanging drive, and optionally one or more other components of the flanging unit, takes place via the support device. Media supply may include supplying the necessary energy to the flanging unit, in particular the flanging drive. The medium supply (energy supply or energy and signal supply) may alternatively or preferably be further configured to supply control or adjustment signals to the flanging unit, in particular to the flanging drive. Good. Thus, the medium may be electrical, mechanical or fluid energy, control signal, adjustment signal, measurement signal, and the like. If the support device is a robot, the power supply and / or signal transmission from the robot is preferably separate or at least partially separate. In a preferred embodiment, at least control signals and / or adjustment signals for the flanging unit are generated and / or processed by a controller, which is independent of the robot controller and spatially separated from the robot. Also good. While the power supply for other purposes and / or the supply of one or more media may be performed separately from the robot, the flanging unit, on the other hand, does not require any significant intervention with the robot controller. The energy may be supplied from the robot without being accompanied, for example, by electrical and / or fluid energy. In any case, there is no need to provide a movement controller for guiding the flanging tool in the robot controller.

  With regard to control and / or adjustment, the cooperation of the supporting device, preferably in the form of a robot, and the flanging unit is configured such that the supporting device derives a signal for controlling the flanging unit. The movement control of the support device formed by the robot controller when the support device is configured as a robot may be configured to perform presence control and / or position data control for the flanging unit. In the case of pure presence control, the control of the support device merely determines that the support device is connected to the flanging unit in the manner required for flanging. In the case of position data control, the control of the support device also determines the position of the flanging unit in the body-specific coordinate system of the support device and / or relative to the component to be flanged. On the other hand, flanging is independently controlled and / or adjusted by a flanging controller. For presence control and / or position data control, the support device avoids a collision with an adjacent work unit, e.g. an adjacent robot, or a person located within the work area of the support device, etc. Safety related aspects may be taken into account.

  The invention also relates to such a flanging unit without a support device in addition to the flanging system. The flanging unit may have any desired features of the flanging unit disclosed in connection with the flanging system and may have any combination of features disclosed in connection with the flanging unit. May be. Accordingly, the flanging unit comprises a guide structure, a flanging tool, and a flanging drive, and a connection for providing a connection suitable for handling by the support device in a unitary structure.

  The connection is in particular arranged for mechanical connection with the receptacle of the support device. The mechanical connection may preferably be further developed to form a media connection, by means of which the flanging unit allows electrical and / or optical control signals and / or adjustment signals and It may also be connected to a medium supply (energy supply or energy and signal supply) required for the operation of energy, for example electrical energy and / or fluid energy.

  In the method according to the invention, the flanging unit is positioned with respect to the component using a support element in the flanging position and is preferably applied to the component. If the flanging unit has a protective structure with an adapted abutment surface, preferably an elongated strip that follows the flanging edge, the flanging unit is configured close to the flanging edge during flanging along the flanging edge. The abutment surface is positioned in the flanging position so that the abutment surface lies flat against the component within the surface area of the element. The support device holds the flanging unit in the flanging position, in which case the support device supports at least the major part (most) of the weight of the flanging unit. A flanging drive of the flanging unit advances the flanging tool in the flanging direction in a guide engagement and / or support engagement with the guide structure. When this movement occurs in the flanging direction, the flange is folded over a predetermined angle under the action of the flanging element. The driving force exerted by the flanging drive to drive the flanging tool and the flanging force exerted by the flanging element to move to the flange are preferably absorbed in the flanging unit by the guide structure. The Preferably, the support device does not only absorb the weight of the flanging unit or at least the main part (most part) of the weight. Also, by holding the flanging unit and thus the guide structure in the flanging position, the support device preferably has at least the main part of the driving force to be applied for driving the flanging element and / or flanging. Absorbs at least the main part of the force.

  The flanging system comprises a flanging control device for control, optionally adjustment control, a flanging drive, and / or an optional adjustment device for adjusting the angular position of the flanging element. In a preferred embodiment, the flanging control device operates autonomously. If the support device is a robot whose movement and gripping operations including the movements necessary for the positioning and gripping operations are controlled by the robot controller, the flanging control is performed separately by the robot controller. No intervention is required at the robot controller to control the flanging drive and / or adjustment device.

  However, it is eliminated that the robot outputs a signal to the flanging controller when the flanging unit is positioned in the flanging position, causing the flanging unit to communicate with the flanging controller and thus activating the flanging controller. Should not. From there, however, the flanging controller controls the operation of the flanging drive and / or adjustment device to be performed during flanging without the intervention of a robot that performs only a holding function during flanging. The robot controller and flanging controller may in particular be implemented as a programmed or programmable controller. In a preferred embodiment, the controller software or at least part of the controller software of the flanging controller is implemented independently of the controller software of the robot controller or at least part of the controller software. During flanging, the flanging controller preferably operates independently of the robot controller. In such an embodiment, the flanging program may be processed by the flanging controller independently of the robot controller, and in this sense the flanging program is autonomous.

  The interaction between the robot controller and the flanging controller, in particular, determines when the robot positions the flanging unit on the component and when the flanging unit is placed at the intended position on the component. May be configured to inform. The flanging unit may have a measuring device for detecting the flange to be flanged and / or the flange-like edge. In a preferred embodiment, the measuring device is arranged to be movable with the flanging tool. Preferably, the measuring device is arranged on the flanging tool. If the flanging unit has such a measuring device, the position provided for the robot to position the flanging unit may be the measuring position. Once the flanging unit is in the measurement position, the flange controller may calibrate the flanging unit using the measurement device against the flange and / or flanging edge. The flanging controller informs the robot controller of the result of the calibration. Depending on the result of the calibration, the robot controller may initiate correction of the position of the flanging unit relative to the component. The correction to be performed is preferably determined by the flanging controller to inform the robot controller of the execution. The position and measurement correction or readjustment procedure may be repeated one or more times until the measured value indicates that the flanging unit is in the correct flanging position required for flanging. Once the flanging unit is correctly positioned, the flanging controller is responsible for controlling and / or adjusting the flanging unit. After flanging has been performed, the flanging controller of the robot controller signals the completion of flanging so that the robot controller, i.e., the robot, may move the flanging unit away from the component.

  Advantageous features are also disclosed in the dependent claims and are also disclosed by combinations of the features described in the dependent claims.

  In addition, aspects of the present invention are also described in aspects described systematically below. These aspects may be organized in the form of a claim and may replace the claim. The features disclosed in these aspects may supplement and / or address the claims, point out alternatives to individual features, and / or extend or express claims. May be. The reference numbers in parentheses refer to the exemplary embodiments shown in the following figures. Those reference numbers do not limit the features described in the embodiments to such terms, but on the other hand indicate preferred possibilities for implementing the particular features.

Aspect 1. A flanging system for folding a flange of a component by flanging, preferably to form a folding connection, the flanging system comprising:
(A) a flanging tool (10) having a flanging element (12) that can be moved along the flanged edge (3) on the flange (2) of the component (1) to bend the flange (2); ,
(B) a flanging unit (5) having 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 the flanging direction (X) along the flanging edge (3);
(D) and a medium supply unit (energy supply unit) for the flanging drive (20);
(E) a support device (9) for positioning and holding the flanging unit (5) in a flange position determined for the component (1);
With
(F) The flanging tool (10) and the flanging drive (20) have a driving force for driving and a flanging force from the flange element (12) exerted on the flange (2) for flanging. Supported in the flanging unit (5) to be absorbed in the flanging unit (5),
(G) and the flanging tool (10) and the flanging drive (20) are integral components of the flanging unit (5) which can be treated as a unit by the support device (9),
Flanging system.

  Aspect 2. A flange according to aspect 1, wherein the flanging tool (10) and the flanging drive (20) are arranged on a common tool carrier (11) movable along the flanging edge with respect to the guide structure (30). System.

  Aspect 3. A flanging system according to aspect 2, wherein the tool carrier (11) is movable along the guide structure (30) and thus along the flanging edge (3).

  Aspect 4. Flanging according to any one of aspects 1 to 3, comprising a connection (6) connected sufficiently firmly to the guide structure (30) to support a mechanical connection to the support device (9). system.

  Aspect 5 5. The flanging system according to aspect 4, wherein the connecting portion (6) is connected immovably to the guide structure (30).

  Aspect 6 Flanging system according to aspects 4 and 5, wherein the connection (6) is arranged to automatically receive the flanging unit (5) by the support device (9).

  Aspect 7. The flange according to any one of aspects 1 to 6, comprising a connection part (6) for a medium supply part (energy and signal supply part) of the flanging unit (5) connected to the guide structure (30). System.

  Aspect 8 A flanging system according to any one of aspects 1 to 7, wherein the flanging element (12) is a flanging roller (12) rollable on the flange.

  Aspect 9. A flanging system according to any one of aspects 1 to 8, wherein the support device (9) is a robot, preferably an articulated arm robot, for fully automatic positioning of the flanging unit (5).

  Aspect 10 The guide structure (30) is a component of the connection and guide module (6, 30) together with the connection (6) for the support device (9), while the flanging tool (10) and the flanging drive. (20) is a component of the tool and drive module (10, 20), and the tool and drive module (10, 20) is in guide engagement with the guide track (31) of the guide structure (30). In addition, the flanging system according to any one of aspects 1 to 9, which can be driven as a module unit in a guide engagement state along the guide track (31) with respect to the guide structure (30).

  Aspect 11 11. A flanging system according to any one of aspects 1 to 10, wherein the guide track (31) mimics the path of the flanging edge (3).

  Aspect 12 The guide structure (30) preferably forms a guide track (31) that mimics the path of the flanging edge (3), while each of the flanging tool (10) and the flanging drive (20) is or The flanging tool (10) is preferably guided together with the flanging drive (20) along the flanging edge (3) in guide engagement with the guide track (31). The flanging system described in one.

  Aspect 13 The flanging structure (30) preferably forms a guide track (31) that mimics the path of the flanging edge (3), while the flanging unit (5) is guided on the guide track (31). The engagement elements (24, 25) are guided together with the guide structure (30) in a combined state, whereby the flanging tool (10) is in the flanging position with the flanging unit (5) in the flanging position. 13. A flanging system according to any one of the preceding aspects 1 to 12, which sometimes moves in a guide engagement along the flanging edge (3).

  Aspect 14. The guide structure (30) preferably forms a guide track (31) that mimics the path of the flanging edge (3), while the flanging tool (10) engages along the guide track (31). Guided with the guide engagement of the elements (24, 25), so that the flanging tool (10) is guided along the flanging edge (3) when the flanging unit (5) is in the flanging position. The flanging system according to any one of aspects 1 to 13, wherein the flanging system moves in an engaged state.

  Aspect 15 The engagement elements (24, 25) comprise a guide carrier carrier (24) and an engagement element (25), the engagement elements (25) being disposed on the guide carrier (24) and spaced apart from each other , Each in contact with the guide structure (30), and the engaging element (25) is such that the guide carrier (24) can only translate along the guide track (31) relative to the guide structure (30). 15. The flanging system according to any one of aspects 1 to 14, provided in number and arrangement.

  Aspect 16. The guide track (31) and the engagement elements (24, 25) are spaced apart from each other in a first dovetail engagement and are transverse to the flanging direction (X) to form a guide engagement. The engagement element (24, 35) is pressed in the second dovetail engagement state in opposition to the first dovetail engagement, and the engagement elements (24, 35) 16. The flanging system according to any one of aspects 13 to 15, comprising engagement elements (25) that are spaced apart from each other in the flanging direction (X).

  Aspect 17 The flanging system according to any one of aspects 13 to 16, wherein the engagement element is an engagement roller.

  Aspect 18. The flanging tool (10) is preferably also a flanging drive (20), at least a main part of the flanging force and / or at least a main part of the weight of the flanging tool (10), preferably the flanging drive (20). Any one of aspects 1 to 17 is supported and supported so as to be movable in the guide engagement state on the guide structure (30) so that the main part of the weight of the guide member is absorbed in the guide engagement state. The flanging system described in one.

  Aspect 19 The flanging unit (5) is connected to a flanging tool (10) that can move with the guide structure (30) in an engaged state that absorbs the flanging force and in a supporting engagement state with the flanging tool (30). With engaging members (24, 25), whereby the flanging tool (10) is supported in a supporting engagement state in the flanging direction (X) so that it can move on the guide structure (30). A flanging system according to any one of the aspects 1 to 18, wherein:

  Aspect 20 The flanging unit (5) can be adapted and applied to the surface (4) of the component (1) defining the flanging edge (3) and located on the opposite side of the flange (2). A flanging system according to any one of aspects 1 to 19, comprising a protective structure (33) having a contact surface (34).

  Aspect 21. The flanging system according to aspect 20, wherein the contact surface (34) of the protective structure (33) is in the form of a strip.

  Aspect 22 A flanging system according to aspect 20 or 21, wherein the contact surface (34) is formed on the guide structure (30) such that the guide structure (30) also forms a protective structure (33).

  Aspect 23. A flanging tool (10) and a flanging drive (20) are movably arranged relative to each other, the flanging drive (20) comprising a motor (22), a drive wheel (23) that can be driven by the motor (22), and A drive track (32) having a track path that mimics the path of the flange-like edge (3), the drive wheel (23) being driven by the drive wheel (23) together with the motor (22) and flanging tool (10). 23. A flanging system according to any one of aspects 1 to 22, in friction and / or positive engagement with the drive track (32) for movement along (32).

  Aspect 24. The drive wheel (23) is a gear wheel in mesh with the drive track (32), the drive track (32) being a toothed or otherwise preferably supported by the path of the drive track (32) Or the flanging system of aspect 23 comprising a toothed belt strip.

  Aspect 25 25. Flanging system according to aspect 24, wherein the drive track (32) is in the form of a dentition and the chain or toothed belt strip is supported on the guide structure (30) in the path of the drive track (32).

  Aspect 26. 26. A flanging system according to any one of aspects 1 to 25, wherein the flanging element (12) is angle adjustable relative to the guide structure (30).

  Aspect 27. The flanging element (12) is adjustably disposed on the tool carrier (11) of the flanging tool (10), while the flanging tool (10) is flanging element (12) relative to the tool carrier (11). 27. The flanging system according to any one of aspects 1 to 26, comprising an adjustment device (13-19) for adjusting the angular position of the first embodiment.

  Aspect 28. The flanging tool (10) has an adjustment path (16-18) and is provided with an adjustment element (13, 14) in an adjusted engagement with the adjustment track (16-18), the flanging element (12) Are arranged on the adjustment track (16-18) and on the adjustment element (13, 14), preferably on the adjustment element (13, 14), and the angular position of the flanging element (12) depends on the adjustment track (16 Mode 1 in which adjustment is possible by relative movement of the adjustment track (16-18) and the adjustment element (13, 14) in the guide engagement state of the adjustment element (13, 14) and the adjustment track (16-18) with respect to -18 28. The flanging system according to any one of 1 to 27.

  Aspect 29 29. A flanging system according to any one of aspects 1 to 28, wherein the flanging element (12) is arranged so as not to move relative to the adjustment track (16-18) and the adjustment element (13, 14).

  Aspect 30 The adjustment track (16-18) follows the adjustment track (16) for angular position adjustment which is curved, preferably curved over an angle of at least 60 °, as well as the inlet and outlet tracks (18) and the inlet and outlet 30. A flanging system according to any one of aspects 1 to 29, comprising a ramp track (17) connecting the exit track (18) to the adjustment track (16) by a ramp.

  Aspect 31 The adjustment track (16-18) projects laterally with respect to the flanging direction (X) beyond the guide structure (30) and is concavely curved with respect to the guide structure (30). The element (12) is provided with an adjustment track (16-18) and a guide structure (30) to increase the flanging force in the direction of the guide structure (30) and / or the protective structure (33) according to aspect 15. ) And / or the flanging system according to any one of aspects 1 to 30, which is arranged at least in a working position in the region between the protective structure (33) according to aspect 15.

  Aspect 32. The flanging element (12) has a flanging force exerted on the flange (2) from the flanging element (12) in the direction of the guide structure (30) and / or the protective structure (33) according to aspect 20. 32. A flanging system according to any one of aspects 1 to 31, which is arranged to act against the guide structure (30) and / or the protective structure (33) according to aspect 20.

  Aspect 33. The flanging unit (5) comprises a measuring device (27) for detecting the flange (2) and / or the flanging edge (3), while the measuring device (27) is preferably a flanging tool (10). 33) A flanging system according to any one of aspects 1 to 32, wherein the flanging system is disposed on and movable with the flanging tool (10).

  Aspect 34. The measuring device (27) on the flanging tool (10) is arranged such that the measuring device (27) detects the flanging edge (3) and / or the flange (2) from the side of the flanging element (12). The flanging system according to aspect 33.

  Aspect 35. The support device (9) is a robot, which has a robot controller for controlling and / or adjusting the movement of this robot, preferably the movement of the articulated arm of the robot, and the flanging system is flanging 35. A flanging system according to any one of aspects 1 to 34, comprising a flanging control device for the drive (20), wherein the flanging control device is independent of the robot controller.

  Aspect 36. The flanging system according to aspect 35, wherein the flanging controller is physically implemented separately from the robot controller.

  Aspect 37 The flanging drive (20) and / or the adjusting device (19) according to aspect 27 is controlled, optionally equipped with a flanging controller adapted to control, the support device (9) being a robot A robot having a controller, the flanging controller being adapted to control, optionally controlling the flanging drive (20) and / or the adjusting device (19) separately from the robot controller. The flanging system according to any one of aspects 1 to 36.

  Aspect 38. The flanging system according to aspect 37, wherein the flanging controller is spatially separated from the robot controller or the robot.

  Aspect 39 The operation controller of the flanging controller and the support device (9) is preferably a robot controller, a programmed or programmable controller, while the flanging program of the flanging controller is an operation control device of the support device (9). The flanging system according to any one of aspects 1 to 38, wherein the flanging system is implemented independently of the control program.

Aspect 40. A flanging unit for folding a flange of a component by flanging, preferably to form a folding joint, the flanging unit comprising:
(A) a flanging tool having a retractable flanging element (12) that can be moved on the flange (2) along the flanged edge (3) of the component (1) to fold the flange (2) 10) and
(B) a guide structure (30) for guiding the flanging tool (10) along the flanging edge (3);
(C) a flanging drive (20) for driving the flanging tool (10) and / or the flanging element (12) in the flanging direction (X) along the flanging edge (3);
(D) and a medium supply unit (energy supply unit) for the flanging drive (20);
(E) for connecting the flanging unit (5) to the flanging unit (9) in order to position and hold the flanging unit (5) in a flanging position determined relative to the component (1). A connection (6);
With
(F) The flanging tool (10) and the flanging drive (20) have a driving force for driving and a flanging force (12) from the flange element (12) exerted on the flange (2). (5) supported in the flanging unit (5) to be absorbed in,
(G) and the flanging tool (10) and the flanging drive (20) are integral components of the flanging unit (5) which can be treated as a unit by the support device (9),
Flanging unit.

  Aspect 41. 41. A flanging unit according to aspect 40, wherein the flanging element (12) is a flanging roller (12) rollable on the flange (2).

Aspect 42. A method for flanging a component flange, preferably by bending, comprising:
(A) a flanging unit (5) as described in at least one of the preceding aspects is positioned in a flanging position relative to the component (1) by means of a support device (9), preferably a robot;
(B) and the flanging unit is held in the flanging position by the support device (9),
(C) The flanging tool (10) has a predetermined angle in the flanging direction (X) by the flanging drive (20) of the flanging unit (5) in the guide support engagement state with the guide structure (30). This movement is advanced only by bending the flange (2) under the action of the flanging force exerted by the flanging element (12),
(D) The driving force from the flanging drive (20) for driving the flanging tool (10) and the flanging force exerted by the flanging element (12) to bend the flange (2) are the flanging unit. Absorbed in (5),
Method.

Aspect 43. The support device (9) is a robot, the robot having a robot controller for controlling the robot to position the flanging unit (5);
-And the flanging controller and / or the adjusting device (19) according to aspect 27, independently of the robot controller, controls the flanging drive (20), optionally to adjust to control 42. The method described.

  Aspect 44. The driving force exerted by the flanging drive (20) for driving the flanging tool (10) and the flanging force exerted by the flanging element (12) for bending the flange (2) are guided structures. Method according to aspect 42 or 43, wherein (30) is absorbed in the flanging unit (5).

  Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. Each of the embodiments disclosed in the exemplary embodiments individually and in combination with each other form the subject matter and aspects of the claims as well as the foregoing embodiments.

Fig. 3 shows a flanging system having an integral flanging unit in a flanging position on a component. The flanging unit in a flanging position is shown. Fig. 2 shows a flanging region with a partially folded component flange. The flanging unit and components are shown in a rear view. The tool and drive module of the flanging unit are shown. The flanging unit is shown in a perspective view. The flanging unit is shown in another view.

1 and 2 show the component 1 and the flanging unit 5, which is positioned in the flanging position with respect to the component 1 and is held in the flanging position by the support device 9.
The flanging unit 5 includes a connector 6 for mechanical connection with the support device 9. The connector 6 is formed to attach to the articulated arm of a robot, preferably a conventional industrial robot, and comprises the necessary geometrical and connecting elements for this purpose, for example in the form of a conventional connecting flange. Preferably, the connector 6 is detachably attached to the robot arm. An articulated arm robot may be used in particular as the support device 9. Only the end of the articulated arm of the articulated arm robot is shown in FIG. Also in FIG. 2, the flanging unit 5 takes the flanging position, and the flanging unit is held by the support device 9, but the support device 9 is not shown so that the field of view of the connector 6 is clear. The connector 6 may be configured so that the robot can be docked and undocked with the flanging unit 5, i.e. the robot can automatically take the flanging unit and return it again.

  The flanging unit 5 serves to flang the wheel housing flange of the automobile body along the flanging edge. Flanging may in particular serve to form a fold joint.

  FIG. 3 shows the formation of a bending joint between component 1 and component 4. The component 1 is an outer panel of the vehicle body, while the component 4 is an inner surface structure of the vehicle body, for example, an inner panel. The flange 2 of the component 1 is folded beyond the flanged edge 3 of the component 1 and thus around the edge of the component 4, so that the component 4 is configured after the folding connection has been completed. Due to the curved contour of the element 1, it projects into the folding pocket formed by the component 1, and the folding edge or flanging edge 3 is positively connected to the component. This type of folding connection and the formation of a bending connection in one or more folding steps are known in the prior art. For this purpose, reference may be made, for example, to EP 1 640 080 A1. Although FIG. 3 schematically illustrates the relationship during folding according to an example of flat folding, another view of an exemplary embodiment shows a cone-cylindrical perimeter for the formation of a drop flange. The accompanying flange element 12 is shown.

  FIG. 4 shows the component 1 as seen from the rear of the flange 2 that has already been partially folded. Only the flange 2 and flange-like edge 3 that have already been folded are visible from the outer panel or component shown in FIG. The inner surface structure which is the component 4 projects along the flanging edge 3 into a flanging pocket formed by flanging. Only the part projecting into the wheel housing in which the flange element 12 acting directly on the flange 2 for flanging is arranged may be recognized by the flanging unit 5. The flanging element 12 is a flanging roller that rolls on the flange 2 during flanging, thereby exerting the flanging force required on the flange 2 for the folding process, and consequently Surrounding the flange 2 at a certain angle. The bending of the flange 2 may be performed in a single flanging step or may be performed in several successive flanging steps, as in the exemplary embodiment. In order to bend the flange 2 in several steps, the flange element 12 is arranged in the flanging unit 5 in an adjustable manner. Unlike the prior art, the working angle that the flange element 12 has on the component 1 is not changed by the robot, but can be changed by adjusting the working angle that the flange element 12 has on the tool carrier 11 of the flanging unit 5. . Therefore, the flanging element 12 is arranged to be adjustable in angle to the flange unit 5.

  The flanging unit 5 includes a first module to which the connector 6 and the guide structure 30, which are also referred to as connection parts and guide modules 6 and 30, and a flanging unit that is later referred to as tools and drive modules 10 and 20. And a second module including the tool 10 and the flanging drive 20. The tool and drive modules 10, 20 are guided movably along the flanged edge 3 on the connection and guide modules 6, 30.

  The guide structure 30 forms a guide track 31 that mimics the path of the flanging edge 2, so that the guide structure follows the contour of the flanging edge 2 when the flanging unit 5 is in the flanging position. . The tool and drive modules 10, 20 are guided in a guided engagement with the guide structure 30, and in this guided (guided) engagement, the tools and drive modules 10, 20 are guided in the flanging position. It is guided in a translational manner along the track 31 and along the flanging edge 2. In guide engagement, only the freedom of translation along the guide track 31 is available for the tool and drive modules 10, 20.

  The tool and drive modules 10, 20 are self-propelled due to the integrated flanging drive 20. During flanging, the flanging drive 20 drives the tool and drive module 10, 20 in the flanging direction along the guide track 31, so that the flanging element 12 causes the flange 2 to move to its flanging edge 2. Gradually surrounding in the flanging direction along.

  The tool and drive modules 10, 20 are movably supported on the guide structure 30. The guide structure 30 supports the tool and drive modules 10, 20 and thus absorbs its weight and provides the drive force to be applied for advancement and the flanging force to be applied for flanging. Absorb. Support is provided in the guide engagement state between the guide structure 30 and the tool and drive modules 10 and 20, and the drive track 32 and the flanging drive 20 are firmly connected to the guide structure 30. It may be provided in an engaged state. However, in principle, the functions of guiding and supporting the guide structure 30 may be performed separately from each other, but a combination of support and guide engagement is preferred. This is because the volume, in particular the weight, of the flanging unit 5 can thereby be reduced compared to the separation of functions.

  The drive track 32 follows the path of the guide track 31. In a typical embodiment, the tracks 31, 32 are arranged in parallel and arranged transverse to the flanging direction. In one variation, the tracks may be nested within each other. In yet another modification, the guide track 31 may form the drive track 32 with a dual function so that guide engagement and drive engagement occur simultaneously. Since the drive engagement between the connection and guide modules 6, 30 and the tool and drive modules 10, 20 is preferably based on shape fitting (fitting due to matching shapes), the guide track 31 is preferably smooth. However, the spatial separation of the guide track 31 and the drive track 32 is preferred, however, the guide track 31 and the drive track 32 are advantageously directly adjacent to each other or adjacent to each other in order to save volume and weight. It is.

  Further, the connection portion and guide modules 6 and 30 also include a protection structure 33, and using this protection structure 33, the connection portion and guide modules 6 and 30 are opposite to the flange 2 when viewed from the flange-like edge 3. In contact with the component at the flanging position in the component region. The protective structure 33 has a contact surface, which is placed on the component 1 in the flanging position and shaped to fit the component region. The protective structure 33 may correspond to the protective function of the protective structure of EP 1 640 080. However, in contrast, the protective structure 33 is immovably connected to the guide structure 30. In an exemplary embodiment, the guide structure 30 and the protective structure 33 are integrated together, for example formed separately and secured to each other, or preferably already formed in a common preforming process, and as required. Finished accordingly.

  Further, the guide structure 30 may be formed on the drive track 32 by a common molding process. The guide structure 30 and drive track 32, and optionally the protective structure 33, may also be integrally formed in a common molding process, in this case required for each structure or web 30-33. A finishing process may follow the forming process to form a structure. In a further development implemented in the exemplary embodiment, the drive track 32 is formed directly by the chain, the chain being fastened to the guide structure 30 at least in the chain end region and its path to the guide structure 30. Is supported by a support track that is immovably connected across. The support track may be immovably fixed to the guide structure 30 or may preferably be molded on the guide structure 30 by a molding method and may be finished thereafter if necessary. . The use of a chain or alternatively a toothed belt strip helps to achieve a shape-fitting drive engagement with the flanging drive 20 and within a flexible framework in the form of a chain or toothed belt strip. , Providing design freedom with respect to the drive track 32 path. As already mentioned, the drive track 32 follows the guide track 31, which imitates the path of the flanging edge 2 and is therefore in several dimensions in the same manner, in particular in the case of wheel housing folding. It may be curved and so may be curved about axes that are not parallel to each other. This is possible in principle if the drive track 32 is provided directly on the guide structure 30 as an inflexible dentition, but the dentition in these applications must also be curved around non-parallel axes. I must. However, the manufacturing cost for such a dentition is significantly greater than the cost of implementing a drive track compared to the use of a chain or toothed belt.

  The guide structure 30 including the contact surface facing the component 1 and the drive track 32 is formed as a narrow strip that mimics the path of the flanging edge to save weight. According to the path of the flanging edge 2 of the exemplary embodiment, the guide structure 30 may be formed like a bracket and may be referred to as a guide bracket.

  As can be seen in FIGS. 1 and 2, a fixation device having one or more fixation elements 29 may be arranged on the guide structure 30. However, if the connection and guide modules 6, 30 are designed with a fixing device, the fixing device does not have to support the weight of the flanging unit 5 on the component 1. This function is performed by the support device 9. However, a flange device that is positioned and held in a flanging position by the support device 9 using an optional fixing device having one or more fixing elements 29 arranged at a distance from each other along the guide track 31. 5 may be fixed. The fixing device serves in particular to pull the flanging edge 2 against the guide structure 30 in order to compensate for manufacturing tolerances of the component 1.

  FIG. 5 shows the tool and drive modules 10, 20 removed from the connection and guide modules 6, 30. The flanging tool 10 is arranged on the tool carrier 11 for adjusting the angle of the flange element 12 and the tool carrier 11 arranged so that the flanging element 12 formed as a flanging roller 12 can be adjusted in angle. Positioning drive 19. X, Y and Z denote axes orthogonal to each other in a coordinate system fixed to the tool carrier 11. The X axis is parallel to the local flanging direction that varies over the path of the guide track 31. When the flanging element 12 is formed as a flanging roller, the rotation axis R of the flanging roller preferably has a direction orthogonal to the flanging direction, that is, a direction orthogonal to the X axis of the flanging tool 10. The flanging force acts at least approximately perpendicular to the flanging direction and perpendicular to the rotational axis R.

The flanging element 12 is provided with a tool carrier so that the working angle that the flanging element 12 has in the YZ plane of the flanging tool 10 during flanging with respect to the flange 2 can be adjusted just prior to performing each flanging step. 11 is adjustable in angle.
Within the range of angular adjustability, the flange element 12 may be rotated about an axis parallel to the respective local flanging direction, i.e. about the tool-specific X axis.

  In order to adjust the working angle of the flange element 12, the flanging tool 10 has an adjustment structure 15 with adjustment tracks 16-18. The flanging member 12 is rotatably supported on an engagement element constituting the flanging element carrier 13, and the flanging element carrier 13 has an engagement element 14 that engages with the guide structure 15 in the guide engagement state. In the guide engagement state, the engagement elements 13, 14 with the flanging element 12 are guided along the movement track of the guide structure 15 and are therefore adjustable in angle. As in the exemplary embodiment, the engagement element 14 may in particular be an engagement roller.

  The adjusting track has a curved adjusting part 16 along which the engaging members 13, 14 and thus the flanging element 12 are guided in adjusting engagement during adjustment. The adjusting operation of the flanging element 12 is determined in advance by the path of the adjusting unit 16. In the adjustment engagement state, the engagement elements 13 and 14 move the adjustment unit 16 by the engagement element 14. The adjusting operation of the flange element 12 depends on the radius of curvature of the adjusting portion 16 and the distance that the surface area on the outer periphery of the flange element 12 has from the adjusting portion 16. Said surface area on the outer periphery of the flanging element 12 is the surface area where the flanging element 12 contacts the flange 2 during flanging. The radius of curvature of the adjusting part 16 is the roller contact point on the outer periphery of the roller where the edge of the surface area when the flanging element 12 is formed as a flanging roller remains fixed to the tool carrier 11 during adjustment. It may be constant so as to serve as However, the adjustment part 16 does not need to draw a circular part or does not draw a circular part. The adjustment may change so that the flanging element 12 superimposes a pure pivoting motion on yet another motion.

  In addition to the adjustment unit 16, the adjustment track 16-18 includes an insertion / extraction unit 18 and a ramp unit 17 that connects the insertion / extraction unit 18 and the adjustment unit 16. In FIG. 5, the flanging element 12 takes an end position relative to the guide structure 15 and its adjustment track 16-18, which end position during the final flanging or final folding, in other words the finished folding. For the execution of the final flanging step, the flange 2 is fully inserted into the pocket and pressed against the edge of the component 4 protruding into this folding pocket (FIGS. 2 and 3) The flanging element 12 is terminated. After this final flanging step is performed, the engaging elements 13 and 14 on which the flanging element 12 is arranged are moved to the insertion / extraction section 18 via the ramp section 18 to adjust the adjustment section 16. It reaches a joint state. When the engaging elements 13 and 14 that move to the adjusting engagement state after flanging enter the insertion / extraction portion 18, the flanging unit 5 is moved from the flanging position by the support device 9, and the next component 1 is flanged. Available to do.

  The insertion / extraction part 18 serves to release the flange element 12. In the extended positions that the engaging elements 13 and 14 take before and after the start of flanging of the respective component elements 1, the engaging elements 13 and 14 are in the rear region with the insertion / extraction part 18, and the adjustment part It is in the front area with 16.

  The connection lamp portion 17 extends between the insertion / extraction portion and the adjustment portion. When the flanging unit 5 is positioned in the structure portion at the flanging position, the engaging portions 13 and 14 are extended from the inner side and the outer side in the rear region, and are completely inserted into the adjustment portion 16 via the ramp portion 17. Be drawn into. During this retraction operation, the engagement elements 13, 14 and thus the flange element 12 tilt about the tool specific X axis. As a result of the tilting, the flange element 12 contacts or at least approaches the flange 2.

  For the adjustment of the flanging element 12, the flanging tool 10 has an adjustment drive 19, which may in particular be a linear drive. A linear drive may be formed as a fluid drive. The linear drive is preferably an electric drive. The adjustment drive 19 is connected to the engagement elements 13, 14 using a linkage so that the relative movement between the engagement elements 13, 14 and the adjustment drive 19 during the adjustment operation can be compensated. . In addition to or instead of the joint connection by the link mechanism, the adjustment drive 19 may be supported on the tool carrier 11 itself by a turning operation.

  The tool and drive module 10, 20 comprises the flanging drive 20 already mentioned. The flanging drive 20 includes a drive carrier 21, a motor 22 supported by the drive carrier 21, and a drive wheel 23 that may be driven by the motor 22 and is formed as an externally toothed spur gear. The drive wheel 23 is arranged coaxially with the motor shaft of the motor 22, but in principle other arrangements can be envisaged. The drive wheel 23 may be disposed directly on the motor shaft, but is more preferably connected to the motor shaft using a speed reducer. The drive carrier 21 is supported by the tool carrier 11. In principle, the tool carrier 11 and the drive carrier 21 may already be formed as a single part, but are preferably formed separately and firmly connected to each other. The drive wheel 23 is in active engagement with the drive track 32 (FIG. 1). In the drive engagement state, the drive wheel 23 and the drive track 32 cooperate in the form of a pinion and chain, a gear and a toothed belt.

  A flanging controller is assigned to the flanging unit 5, which controls the flanging drive 20 and the adjustment drive 19, which are optionally adjusted to control. The flanging controller provides control signals to the two drives 19, 20, and in accordance with the control signals, the flanging drive 20 moves the flanging tool 10, and in a particular embodiment, the guide structure 30 and the adjustment drive. The tool and drive modules 10 and 20 are moved relative to 19 and the flanging element 12 is moved and positioned relative to the tool carrier 11. The flanging controller operates autonomously. When the robot forms the support device 9, the flanging controller operates independently of the robot controller. Nevertheless, the flanging controller may be located on the robot, but due to its autonomous movement, it may preferably be located at a distance from the robot controller or even from the robot. Good. However, the flanging controller is configured so that when the flanging unit 5 assumes the flanging position, the flanging controller receives a start signal from the robot controller and / or when the flanging controller for each component is completed. The robot controller may be coupled to provide an end signal to the robot controller. However, the start signal and / or the end signal may be output by the host production control device. However, in one embodiment, the flanging controller may control flanging in a continuous production that is clocked, but the start / end communication described above may be performed according to the clock or only according to a predetermined clock time. The flanging may be controlled so that it can be omitted.

  The flanging element 12 is carefully determined in advance at the adjustment engagement position along the adjustment part 16 in order to bend the flange 2 continuously in several flanging steps according to the angular position assigned to each flanging step. Different angular positions may be adjusted. In a further development, the flanging controller replaces or in addition to a predetermined discrete angular position, the angular position of the flanging tool 12 within the entire adjustment range or a part of the entire adjustment range that is predetermined by the adjustment unit 16. The adjustment may be made continuously only within the range. Accordingly, the control for the flanging unit 5 may preferably be adapted to dynamically and continuously adjust the angular position of the flange element 12 during flanging, and in this sense, For example, it may be adapted to provide a flange 2 that extends continuously to one or both longitudinal ends of the flanging edge 3 so that the folding pockets open continuously.

  For guide engagement with the guide structure 30, the tool and drive modules 10, 20 also have an engagement element which, in the form of a roller carriage, functions as a module carrier 24. And an engaging element 25 formed as a guide roller. More specifically, as can be seen from the rotational mobility of the engagement element 25, the engagement elements 24, 25 are arranged to face each other with a clear distance from each other and cannot move relative to the tool carrier 11. A carriage is provided.

  FIG. 6 also clearly shows the guide engagement and drive engagement of the tool and drive modules 10, 20 and the guide structure 30. Regarding the guide engagement, only the engagement of one roller carriage of the engagement elements 24, 25 can be recognized. On the lower surface of the guide structure 30, the ratio is the same with the engagement elements 24, 25 positioned in the guide engagement state. 6 and 7 also show a protective structure 33 formed directly on the guide structure 30, in which case the contact surface 34 (FIG. 7) is adapted to the component 1 and the drive track 32. The drive track 32 may be formed by a chain as already mentioned, but the chain is not shown. The chain is conveniently arranged in the groove 35 of the guide structure 30 and is therefore not only supported in the guide engagement on the support track 36 on the lower surface facing away from the drive wheel 23 but also in the groove 35. It is also guided in the horizontal direction.

  The guide engagement is formed as a bifurcated dovetail joint engagement. Thus, the guide track 31 is composed of a first pair of guide track segments 31 that are tilted relative to each other in the cross section of the guide structure 30 and a second pair of guide track segments 31 that are also tilted relative to each other. The The two pairs of guide track segments 31 are formed on the guide structure 30 so as to face each other while being rotated away from each other in the transverse direction with respect to the flanging direction X. The engagement element 25 is arranged on the guide carrier 24 so as to be rotatable with respect to the track segment assigned to each of the guide tracks 31. Due to the double dovetail engagement, a particularly strong support and accurate guidance of the tool and drive modules 10, 20 relative to the guide structure 30 is ensured. The engagement element is in the form of a dovetail engagement in view of the fact that the engagement elements 24, 25 define the guide structure 30, in particular its guide track 31, but the engagement element 25 is preferably a roller. .

  With regard to guide engagement and adjustment engagement, both engagements are in each case formed by the engagement roller element, i.e. by the engagement element 14 of the adjustment engagement and the engagement element 25 of the guide engagement. It should also be noted that. This is advantageous in terms of friction ratio and wear, but in principle the adjusting engagement and / or the guide engagement can be formed as a sliding engagement.

  The adjustment structure 15, along with its adjustable part 16, optionally together with the ramp part 17 or the insertion / removal part 18, by means of guide engagement, ie by means of the guide structure 30, transverse to the flanging direction X Protrusively. The adjusting part 16 is concavely curved with respect to the guide engagement of the guide structure 30, the tool and the drive modules 10, 20, and in particular to the guide engagement as in the exemplary embodiment. May be directed. The flanging element 12 is located in the region between the adjustment track 16-18 and the guide engagement. This embodiment is particularly advantageous for wheel housing flanging or bending. This is because the flanging unit 5 is positioned and held on the component 1 outside in the flanging position, whereas the flanging element 12 in the wheel housing for flanging, at least for finishing the flanging. This is because it acts from the inside toward the outside in the direction of the guide structure 30 or the protection structure 33 that is optionally provided.

  If the flanging unit 5 comprises a protective structure, for example a protective structure 33, preferably having a contact surface that abuts the flange 2 in the flanging position on the component 1, the flanging unit is, in a preferred embodiment, a flange. It may be supported by a support device 9 that resists processing forces, while a counter element that can move in the flanging direction with the flanging element 12 may be omitted. When the support device absorbs only the weight of the flanging unit 5, a fixing device for absorbing the flange processing force is additionally provided. Such a fixing device may be provided externally to resist the flanging unit 5 in a manner facing the component 1 from the outside against the flanging force. However, in principle, it should not be excluded that the supporting device only supports the weight of the flanging unit 5 during flanging and that the flanging force is supported by the fixing device on the component 1.

  For example, as shown in FIG. 7 and as referenced by numeral 27, a measuring device may be arranged in the tool and drive module 10, 20. The flange 2 and / or the flanging edge 3 may be detected using the measuring device 27 before and / or after flanging. Preferably, for optical detection of the flange 2 and / or the flanging edge 3, the measuring device 27 may have a laser and a receiving device, the receiving device being connected to the flange 2 and / or the flanging edge 3. On the other hand, for the light emitted by the laser and reflected from there to the receiver. The flange 2 and / or flanging edge 3 may be measured using the optical measuring device 27, in particular by triangulation. The light receiving device may be arranged for continuous or instantaneous reception of reflected laser light. The receiving device may in particular be a video camera. The light source, in particular the signal emitter, such as a laser, and the receiving device are preferably arranged in close proximity to each other, preferably in a common housing, as in the exemplary embodiment. The measuring device 27 is in particular in a region that protrudes beyond the guide engagement, in the exemplary embodiment of the adjustment structure 15, so that the flange 2 and / or the flanging edge 3 can be detected from the inside of the wheel housing. You may arrange | position in an area | region.

  Measurement technical detection of the flange 2 and / or flanging edge 3 may be used to measure the flanging system and / or for quality control of the flanged component 1. If the support device 9 is preferably a robot, the robot may individually adjust the flanging position according to the specific component 1 to be machined based on the results of the measurement. Thus, the flanging unit 5 may take into account the manufacturing-specific characteristics of each component by taking into account the geometric deviations for each component within the range of manufacturing tolerances.

DESCRIPTION OF SYMBOLS 1 Component 2 Flange 3 Flanging edge 4 Component 5 Flanging unit 6 Connection part 7 for a support device-
8-
DESCRIPTION OF SYMBOLS 9 Support apparatus 10 Flanging tool 11 Tool carrier 12 Flanging element 13 Flanging element carrier 14 Engagement element 15 Adjustment structure 16 Adjustment part 17 Lamp part 18 Insertion / extraction part 19 Adjustment drive 20 Flanging drive 21 Drive carrier 22 Motor 23 Drive Wheel 24 Guide carrier 25 Engaging element 26-
27 Measuring device 28-
29 Fixing device 30 Guide structure 31 Guide track 32 Drive track 33 Protection structure 34 Contact surface 35 Groove 36 Support track R Rotating axis X, Y, Z Coordinate system of tool

Claims (17)

A flanging system for folding a flange of a component by flanging, preferably to form a folding connection, the flanging system comprising:
(A) A flanging element, preferably in the form of a flanging roller, which can be moved along the flanged edge (3) on the flange (2) of the component (1) to bend the flange (2) A flanging tool (10) having (12);
(B) a flanging unit (5) having 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 the flanging direction (X) along the flanging edge (3);
(D) and a medium supply for the flanging drive (20);
(E) a support device (9) for positioning and holding the flanging unit (5) at a flanging position defined for the component (1);
With
(F) The flanging tool (10) and the flanging drive (20) comprise a driving force for driving and a flange from the flange element (12) exerted on the flange (2) for flanging. Supported in the flanging unit (5) so that the processing force is absorbed in the flanging unit (5),
(G) and the flanging tool (10) and the flanging drive (20) are integral components of the flanging unit (5) that can be treated as a unit by the support device (9),
Flanging system. The support device (9) is a robot, which has a robot controller for controlling and / or adjusting the movement of the robot, preferably the robot arm of the robot, while the flanging system Comprises a flanging controller as described in aspect 3 for the flanging drive (20) and / or for the adjustment device (19), wherein the flanging controller is connected to the flanging from the robot controller. The drive (20) and / or the adjusting device (19) are independently controlled, optionally configured to be controlled and preferably configured to be spatially separated by a robot controller. The flanging system according to claim 1. The flanging element (12) is arranged to be adjustable relative to the tool carrier (11) of the flanging tool (10), while the flanging tool (10) is relative to the tool carrier (11). Flanging system according to claim 1 or 2, comprising an adjusting device (13-19) for adjusting the angular position of the flanging element (12). The flanging tool (10) comprises a curved adjustment track (16-18) and adjustment elements (13, 14) in an adjusted and engaged state;
The flanging element (12) is preferably fixed relative to the adjustment track (16-18) and the adjustment element (13, 14) on the adjustment track (16-18) and the adjustment element (13); , 14)
And the angular position of the flanging element (12) is in a guided engagement of the adjustment track (16-18) with the adjustment element (13, 14) relative to the adjustment track (16-18). May be adjusted relative to the adjustment track (16-18) and the adjustment element (13, 14);
The flanging system according to any one of claims 1 to 3. In order to adjust the angular position, an adjustment track (16-18) having a curvature adjustment part (16) which is preferably curved over an angle of at least 60 ° comprises an insertion / extraction part (18) and an insertion / extraction part (18). The flanging system according to claim 4, comprising a ramp portion (17) connected to the adjustment portion (16) via a ramp. The adjustment track (16-18) protrudes laterally with respect to the flanging direction (X) beyond the guide structure (30) and is concavely curved with respect to the guide structure (30). And the flanging element (12) is arranged on the adjusting track (16-) in order to increase the flanging force in the direction of the guide structure (30) and / or the protective structure (33) according to claim 12. The flanging system according to claim 4 or 5, which is arranged at least in a working position in a region between 18) and the guide structure (30) and / or the protective structure (33) according to claim 12. . The flanging tool (10) and the flanging drive (20) are relative to the guide structure (30) along the flanging edge (3), preferably also along the guide structure (30). 7. The flanging system according to claim 1, wherein the flanging system is arranged on a common tool carrier (11) arranged in the same manner. While the guide structure (30) forms a guide track (31), the flanging tool (10) is preferably along with the flanging edge (3) along with the flanging drive (20). Flanging system according to any one of the preceding claims, guided in a guided engagement with a guide track (31). The flanging tool (10) is guided in the guide engagement state of the engagement elements (24, 25), and the guide track (31) is guided along the guide track (31), while the engagement element (24, 25) comprises a guide carrier (24) and an engagement element (25) disposed on the guide carrier (24), said engagement elements (25) being spaced apart from each other; Each is in contact with the guide structure (30) to form a guide engagement, and the engagement element (25) is connected to the guide track by the guide carrier (24) relative to the guide structure (30). 9. The flanging system according to claim 8, wherein the flanging system is provided in such a number and arrangement that it can only translate along (31). The guide track (31) and the engagement elements (24, 25) are in a first dovetail engagement state and transverse to the flanging direction (X) to form a guide engagement. Pressed against each other in the opposing second dovetail engagement state, the engagement elements (24, 35) from each other in the first dovetail engagement state and the second dovetail engagement state 10. Flanging system according to claim 8 or 9, comprising engagement elements (25) spaced apart in the flanging direction (X). At least the main part of the flanging force and / or the main part of the weight of the flanging tool (10), preferably the main part of the weight of the flanging drive (20), are also absorbed in the guide engagement. In addition, the flanging tool (10) is preferably supported by the flanging drive (20) guided and movably guided on the guide structure (30). The flanging system according to any one of 1 to 10. The flanging unit (5) is adapted to and can be applied to the surface of the component (1) adjacent to the flanging edge (3) located opposite the flange (2). A protective structure (33) having a surface (34), the contact surface (34) being arranged such that the guide structure (30) also forms the protective structure (33). 12. A flanging system according to any one of the preceding claims formed on top. The flanging tool (10) and the flanging drive (20) are arranged to move together, and the flanging drive (20) includes a motor (22) and a drive wheel (23) that can be driven by the motor. And a drive track (32) having a track path imitating the path of the flanging edge (3), wherein the drive wheel (23) is frictionally engaged and / or shaped. The drive wheel (23) is moved along the drive track (32) together with the motor (22) and the flanging tool (10) during the rotational drive so that the drive wheel (23) is moved. The track (32) is preferably supported on the path of the drive track (32), preferably on the guide structure (30). En or flanging system according to any one of claims 1 to 12 comprising a toothed belt strip. The flanging unit (5) comprises a measuring device (27) for detecting the flange (2) and / or the flanging edge (3), the measuring device (27) being preferably the measuring device. 14. (27) can be moved with the flanging tool (10) to detect the flanging edge (3) and / or the flange (2) from the side of the flanging element (12). The flanging system as described in any one of. A flanging unit for flanging a flange of a component by flanging, preferably to form a bent connection, the flanging unit comprising:
(A) a flanging tool having a flanging element (12) that can be moved along a flanged edge (3) on the flange (2) of the component (1) to fold the flange (2); 10) and
(B) a flanging unit (5) having 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 the flanging direction (X) along the flanging edge (3);
(D) and a medium supply for the flanging drive (20);
(E) Restrain the flanging unit (5) using a support device (9) for positioning and holding the flanging unit (5) at a flanging position defined with respect to the component (1). A connecting part (6) for
With
(F) The flanging tool (10) and the flanging drive (20) comprise a driving force for driving and a flange from the flange element (12) exerted on the flange (2) for flanging. Supported in the flanging unit (5) so that the processing force is absorbed in the flanging unit (5),
(G) and the flanging tool (10) and the flanging drive (20) are integral components of the flanging unit (5) that can be treated as a unit by the support device (9),
Flanging unit. A method for flanging a component flange, preferably for bending, comprising:
(A) a flanging unit (5) according to at least one of claims 1 to 15 is positioned in a flanging position relative to the component (1) by means of a support device (9), preferably a robot;
(B) and the flanging unit is held in the flanging position by the support device (9), the support device (9) supports at least a main part of the weight of the flanging unit (9),
(C) On the other hand, the flanging tool (10) is guided by and supported by the guide structure (30) by the flanging drive (20) of the flanging unit (5). Driven in the direction (X), as a result of this movement, the flange (2) is bent over a predetermined angle under the action of the flanging element (12),
(D) Flanging force exerted by the flanging drive (20) to drive the flanging tool (10) and flanging exerted by the flanging element (12) to fold the flange (2). The force is preferably absorbed by the guide structure (30), preferably in the flanging unit (5),
Method. The support device (9) is a robot, the robot having a robot controller for controlling the robot to position the flanging unit (5);
And a flanging controller of the flanging drive (20) and / or the adjusting device (19) according to claim 3 controlled separately from the robot controller, optionally adjusted to control.
The method of claim 16.

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