WO2007101667A1 - Dispositif de bordage et procede pour border des pieces par roulage - Google Patents

Dispositif de bordage et procede pour border des pieces par roulage Download PDF

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Publication number
WO2007101667A1
WO2007101667A1 PCT/EP2007/001944 EP2007001944W WO2007101667A1 WO 2007101667 A1 WO2007101667 A1 WO 2007101667A1 EP 2007001944 W EP2007001944 W EP 2007001944W WO 2007101667 A1 WO2007101667 A1 WO 2007101667A1
Authority
WO
WIPO (PCT)
Prior art keywords
crimping
roller
flange
flanging
cone
Prior art date
Application number
PCT/EP2007/001944
Other languages
German (de)
English (en)
Inventor
Jens Baumgarten
Peter Plapper
Original Assignee
Gm Global Technology Operations, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gm Global Technology Operations, Inc. filed Critical Gm Global Technology Operations, Inc.
Priority to US12/281,945 priority Critical patent/US20090301160A1/en
Priority to CN200780008183XA priority patent/CN101394951B/zh
Publication of WO2007101667A1 publication Critical patent/WO2007101667A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D19/00—Flanging or other edge treatment, e.g. of tubes
    • B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
    • B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
    • B21D19/043—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers for flanging edges of plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B21D39/023—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors using rollers

Definitions

  • the invention relates to a crimping device with a multi-axis industrial robot, in particular an industrial robot, which carries on its hand a crimping tool with a crimping head and at least one crimping roller located on the crimping head.
  • Such a flanging device is known for example from DE-U-299 10 871.
  • the robot-guided there shown is known for example from DE-U-299 10 871.
  • Crimping tool has a crimping roller, with which a crimping flange is folded over and pressed down on a workpiece.
  • the pre-crimping can optionally take place in several operations.
  • the object of the invention is therefore to provide a crimping device that allows wrinkle-free crimping of workpieces in the simplest possible way.
  • a crimping device comprises a crimping bed provided for receiving a workpiece and a multi-axis manipulator, in particular an industrial robot, which carries on its hand a crimping tool with at least one crimping roller.
  • At least parts of the crimping roller have the shape of a cone or a truncated cone with a conical tip, an axis of symmetry extending through the conical tip and an opening angle, wherein the opening angle ⁇ of the cone is 180 °> ⁇ ⁇ 140 °.
  • the invention is based on the consideration that the formation of wrinkles during pre-flanging should be avoided from the outset. As demonstrated in both experiments and simulations, wrinkling is due to local strains of the material, especially near the flange edge, during pre-crimping.
  • the local elongation of the material should therefore be kept relatively low.
  • Flange material around the hemming roller can be reduced thereby, in particular in the region of the flange edge, that instead of the conventional cylindrical hemming roller a cone-shaped is used herein, where "conical” is used here and in the following as an abbreviation and means a crimping roller, which has either the shape of a solid cone or that of a truncated cone or at least in areas in the form of a full cone or that of a truncated cone.
  • Such a conical crimping roller does not roll on the entire lateral surface of the cone because of its straight guidance by the robot, but strictly speaking only on a circular line.
  • the other areas of the lateral surface exert a significantly lower contact pressure on the flange.
  • the contact pressure along a distance on the lateral surface between the base surface and the tip of the cone on a gradient which is adapted to prevent local strains of the flange edge.
  • the strength of the gradient in the contact pressure at an opening angle ⁇ of the cone of at least 140 °, preferably at least 160 °, is optimal.
  • the base of the conical crimping roller advantageously has a diameter d of at least 60 mm.
  • the conical crimping roller is provided as Vorbördelrolle and a cylindrical further crimping roller as Fertigbördelrolle.
  • the crimping roller can also be designed so that it has a conical or frusto-conical portion and also a cylindrical portion, so that it can be used both as a pre-as well as Fertigbördelrolle.
  • the Bördeiroiie is fixedly arranged on an output shaft of a drive, with which the crimping roller is driven during the crimping at a defined speed.
  • the direction of rotation of the crimping roller is in the direction of the moving industrial robot, wherein the rotational speed of the crimping roller is greater than the driving speed of the industrial robot.
  • the friction between the flanging flange to be flanged and the surface of the flanging rollers working on the flanging flange should be as high as possible.
  • a "spin" of the driven flanging rollers on the flare flange is to be avoided under all circumstances.
  • this has proven to form the crimping rollers of a hard metal core, preferably a steel, with a hard rubber sheath thereon.
  • the hard rubber jacket can be vulcanized.
  • the device according to the invention has the advantage that the flange material is less locally stretched by the optimized conical geometry of the crimping roller than by conventional crimping rollers. As a result, it is less likely to form wrinkles on the workpiece and it may also be costly efforts to reduce the wrinkles in Fertigbördeln or to reduce the translation speed.
  • a method of roll-flanging metal parts comprises the following steps: First, a workpiece to be flanged is provided with a flange disposed on a flanging bed.
  • the flange is vorgebördelt with a guided by a multi-axis manipulator, such as an industrial robot, Vorbördelrolle, wherein the Vorbördelrolle the shape of a cone or truncated cone with a symmetry axis, - has a cone tip and an opening angle ⁇ and the opening angle ⁇ of the cone is at least 140 °.
  • the flange is finish beaded, preferably with a cylindrical Fertigbördelrolle.
  • Either the axis of symmetry of the conical crimping roller is approximately perpendicular to the plane of the crimping bed during the crimping process.
  • approximately perpendicular means that the axis of symmetry pierces the plane of the crimping bed at an angle of more than 45 °.
  • the axis of symmetry of the pre-crimping roller is advantageously rotated by an angle ⁇ in the counterclockwise direction against the perpendicular to the direction of translation.
  • the axis of symmetry of the conical crimping roller can also be approximately parallel to the plane of the crimping bed during the crimping process. "Approximately parallel" means that the axis of symmetry pierces the plane of the crimping bed at an angle of less than 45 °.
  • the axis of symmetry of the pre-crimping roller is advantageously rotated by an angle ⁇ in the clockwise direction against the perpendicular to the direction of translation.
  • the flange angle Y between the flange and the bed of the bed and thus the plane of the work piece should be at most 90 °.
  • the translation speed vi with which the bordel roll is guided during the preborting, is advantageously between 1000 mm / s and 1600 mm / s.
  • several preliminary or finishing steps can be provided.
  • the Bordel raised is particularly suitable for Rollbordeln of vehicle parts such as car filters, hoods and tailgates.
  • Figure 1 in a schematic side view of a
  • Figure 2 schematically shows a burr roller according to a first
  • FIG. 3 shows schematically a burr roller according to a second
  • FIG. 4 schematically shows a burr roller according to a third embodiment
  • FIG. 5 schematically shows a side view of the burr roller during the bailing operation
  • Figures 6 and 7 show two ways to perform the Rollbördelns. Show
  • FIG. 6a schematically shows a side view of a first possibility
  • Figure 6b schematically shows the first option from another
  • Figure 7a schematically shows a side view of a second possibility
  • FIG. 7b schematically shows the second possibility from a further perspective.
  • FIG. 1 shows a schematic representation of a
  • Crimping device 1 which mainly consists of a six-axis industrial robot 2 and a crimping tool 5.
  • the crimping tool 5 is arranged by the industrial robot 2 with respect to a stationary arranged on a frame and there clamped on a hemming bed 12 workpiece 10 with one or more flanging flanges 11 moves.
  • the frame can also be designed as a turntable (not shown), on which the flanging bed 12 is mounted, wherein the
  • the industrial robot shown in FIG. 1 has six rotary axes. However, the number of axes can also be smaller or larger.
  • the industrial robot 2 has a robot controller 13, via which its movements and optionally also the process sequence of the beading are controlled and regulated. For this purpose, in the robot controller 13, a movement sequence of the robot 2 and of the hemming tool 5 derived from the contour of the hemming flanges is programmed, and the CAD and / or CAM data of the workpiece 10 are stored in a main memory.
  • the industrial robot 2 has a rocker and a boom 3, at the front end of a robot hand 4 is arranged with one or more axes of movement.
  • the robot hand 4 On the output side, the robot hand 4 has a hand flange on which the crimping tool 5 is flanged.
  • the crimping tool 5 shown in FIG. 1 has a crimping roller 6.
  • the crimping roller 6 is fixedly mounted on an output shaft 7.
  • the output shaft 7 is in communication with a transmission 8, which is flanged onto a drive motor 9.
  • Gear 8 and drive motor 9 are located in the interior of the hemming 5.
  • the rotational speed V 2 or the rotational speed of the crimping roller 6 is greater than the traveling speed vi of the moving robot 2. Accordingly, v 2 > vi.
  • the speed v x of the industrial robot 2 is typically between 1000 mm / s and 1600 mm / s.
  • the industrial robot 2 has a robot controller 13, with which the movements and the entire process sequence of the carried out rolling are measured and regulated.
  • the robot controller 13 is implemented as a computer-aided control with one or more processors, multiple interfaces for the input and output of data and multiple memories for operating, process and other relevant data.
  • the trajectory and the corresponding movement sequence of the industrial robot 2 and the crimping tool 8 are programmed and stored in a main memory.
  • the crimping device 1 has in the region of its crimping head 15 a measuring device 20, with which the crimping sizes detected from the crimping process are measured.
  • the measuring device 20 is connected via a line 19 to the robot controller 13.
  • the robot controller 13 is in turn connected to the industrial robot 2 by a line 21.
  • the measuring device 20 in particular the rotational speed and the contact pressure of the crimping roller 6 during the roll crimping are measured and readjusted via a setpoint / actual value adjustment.
  • the readjustment also takes into account in particular the exact setting of the contact pressure of the rotating crimping roller 6.
  • the speed of the driven crimping roller 6 must be tuned to it. This adjustment also takes place via the robot controller 13, in which the rotational speed of the crimping roller 6 is set via the program data stored in the main memory as a function of the travel speed of the robot 2.
  • the flanging roller 6 has a special geometry.
  • FIGS. 2, 3 and 4 show schematically alternative embodiments of the crimping roller 5.
  • the crimping roller 6 according to FIG. 2 has the shape of a cone with a lateral surface 14 and a base surface 16.
  • Cone is characterized by its opening angle ⁇ and the diameter d of its base 16. Particularly favorable to avoid wrinkling is an opening angle ⁇ of at least 140 °.
  • the diameter d is at least 60 mm.
  • the crimping roller 5 can either have the shape of a full cone as shown in FIG. But it can also have the shape of a truncated cone as shown in Figure 3.
  • the cone or truncated cone-shaped roller 6 is used to pre-string the workpiece 10.
  • a cylindrical Fertigbordelrolle not shown can be used.
  • the steps of pre- and Fertigbordeins can also be performed with a single burr roller 6.
  • the burr roll according to FIG. 4 has a conical region 25 for prebinding and a cylindrical region 23 for finish-roving. Both pre- and finish-binding can be done in several passes.
  • FIG. 5 schematically shows a side view of the conical burr roller 6 and of the flange flange 11 during the beating process.
  • the burr roller 6 is set so that it is pressed in a first region 18 with a relatively high contact pressure against the flange 11 and nestles close to this.
  • a second region 22 which is closer to the cone tip, the radius of the burr roller 6 is significantly smaller due to their conical geometry and the lateral surface 14 of the cone nestles in this second region 22 is not so close to the Bordelflansch 11.
  • the burr roller 6 rolls thus not on their entire lateral surface 14 but strictly speaking only on a circle on the lateral surface.
  • FIGS. 6 and 7 show two different ways of guiding the crimping roller 6.
  • the axis of symmetry 27 of the conical flanging roller 6 lies approximately parallel to the plane of the flanging bed 12 and thus also essentially to the surface of the workpiece 10.
  • the conical tip 26 faces the workpiece 10. "Approximately parallel" means that the axis of symmetry 27 pierces the plane of the crimping bed 12 at an angle of less than 45 °.
  • the angle ⁇ should be negative according to the mathematical definition, that is to say that it has originated from the perpendicular 28 to the direction of translation vi by a clockwise rotation.
  • the axis of symmetry 27 is approximately perpendicular to the plane of the crimping bed. "Approximately perpendicular" means that the axis of symmetry 27 pierces the plane of the crimping bed 12 at an angle of more than 45 °.
  • the angle ⁇ should, as shown in FIG. 7b, be positive according to the mathematical definition, that is to say have originated from the perpendicular 28 to the translation direction vi by a counterclockwise rotation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Manipulator (AREA)
  • Rolls And Other Rotary Bodies (AREA)

Abstract

Le dispositif de bordage (1) selon l'invention, avec un lit de bordage (12) conçu pour recevoir une pièce (10), un manipulateur à plusieurs axes, notamment un robot industriel (2), qui porte au niveau de sa main un outil de bordage (5) avec au moins un rouleau de bordage (6), a pour but d'éviter la formation de plis au niveau de la bride (11), notamment pendant le prébordage. A cet effet, au moins certaines parties du rouleau de bordage (6) ont la forme d'un cône ou d'un tronc de cône avec un axe de symétrie (27), une pointe de cône (26) et un angle d'ouverture alpha, l'angle d'ouverture alpha du cône étant de 180° > alpha >= 140°. Un procédé pour border des pièces par roulage qui utilise un tel dispositif de bordage est également décrit.
PCT/EP2007/001944 2006-03-07 2007-03-07 Dispositif de bordage et procede pour border des pieces par roulage WO2007101667A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/281,945 US20090301160A1 (en) 2006-03-07 2007-03-07 Flanging machine and method for spin-flanging workpieces
CN200780008183XA CN101394951B (zh) 2006-03-07 2007-03-07 卷边装置及用于工件卷边的方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006010469A DE102006010469A1 (de) 2006-03-07 2006-03-07 Bördeleinrichtung sowie Verfahren zum Rollbördeln von Werkstücken
DE102006010469.2 2006-03-07

Publications (1)

Publication Number Publication Date
WO2007101667A1 true WO2007101667A1 (fr) 2007-09-13

Family

ID=38109913

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/001944 WO2007101667A1 (fr) 2006-03-07 2007-03-07 Dispositif de bordage et procede pour border des pieces par roulage

Country Status (5)

Country Link
US (1) US20090301160A1 (fr)
CN (1) CN101394951B (fr)
DE (1) DE102006010469A1 (fr)
RU (1) RU2425725C2 (fr)
WO (1) WO2007101667A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2985937B1 (fr) 2012-01-19 2014-03-07 Michelin & Cie Dispositif et procede de retournement des lisieres sur une calandre
US10842577B2 (en) * 2015-02-24 2020-11-24 Sri International Hyperdexterous system user interface
DE102021130877A1 (de) 2021-11-25 2023-05-25 Bayerische Motoren Werke Aktiengesellschaft Verfahren zur Herstellung einer Falzklebeverbindung durch Rollbördeln und Bördeleinrichtung
DE102021132428A1 (de) 2021-12-09 2023-06-15 Bayerische Motoren Werke Aktiengesellschaft Falzformwerkzeug, Falzformeinrichtung und Verfahren zur Herstellung einer Falzklebeverbindung

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29910871U1 (de) * 1999-06-28 1999-08-12 Kuka Schweissanlagen Gmbh Bördeleinrichtung
EP1097759A1 (fr) * 1998-09-08 2001-05-09 Incyte Pharmaceuticals, Inc. Dispositif d'usinage du type laminoir a galets
EP1162011A2 (fr) * 2000-06-09 2001-12-12 Audi Ag Appareil pour plier le bord d'une pièce par repliage à rouleaux
DE20280246U1 (de) * 2001-08-31 2004-07-15 Edag Engineering + Design Ag Rollfalzkopf zum Falzen eines Flansches
JP2005014069A (ja) * 2003-06-27 2005-01-20 Torai Engineering Kk ローラ式曲げ加工装置およびその加工方法
US20050086989A1 (en) * 2003-10-24 2005-04-28 Ford Global Technologies, Llc Apparatus for roll hemming with zero angle deflection

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US4921037A (en) * 1988-07-19 1990-05-01 Hazelett Strip-Casting Corporation Method and apparatus for introducing differential stresses in endless flexible metallic casting belts for enhancing belt performance in continuous metal casting machines
JPH04253524A (ja) * 1991-01-29 1992-09-09 Mitsubishi Motors Corp ヘミング加工方法及びそれに用いるヘミング加工用工具
DE19709947A1 (de) * 1997-03-11 1998-09-17 Alusuisse Bayrisches Druckgus Verfahren und Vorrichtung zum Verformen von Gußaluminium und ähnlichen Materialien
US6161410A (en) * 1998-08-11 2000-12-19 Unova Ip Corp. Multi-axis roller hemmer
SE0102399D0 (sv) * 2001-07-03 2001-07-03 Abb Ab Anordning och förfarande för flänsning
JP3623474B2 (ja) * 2001-10-31 2005-02-23 トライエンジニアリング株式会社 ヘミング加工装置およびヘミング加工方法
US7290423B2 (en) * 2004-06-28 2007-11-06 Gm Global Technology Operations, Inc. Roller hemming apparatus and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1097759A1 (fr) * 1998-09-08 2001-05-09 Incyte Pharmaceuticals, Inc. Dispositif d'usinage du type laminoir a galets
DE29910871U1 (de) * 1999-06-28 1999-08-12 Kuka Schweissanlagen Gmbh Bördeleinrichtung
EP1162011A2 (fr) * 2000-06-09 2001-12-12 Audi Ag Appareil pour plier le bord d'une pièce par repliage à rouleaux
DE20280246U1 (de) * 2001-08-31 2004-07-15 Edag Engineering + Design Ag Rollfalzkopf zum Falzen eines Flansches
JP2005014069A (ja) * 2003-06-27 2005-01-20 Torai Engineering Kk ローラ式曲げ加工装置およびその加工方法
US20050086989A1 (en) * 2003-10-24 2005-04-28 Ford Global Technologies, Llc Apparatus for roll hemming with zero angle deflection

Also Published As

Publication number Publication date
CN101394951A (zh) 2009-03-25
US20090301160A1 (en) 2009-12-10
RU2425725C2 (ru) 2011-08-10
CN101394951B (zh) 2012-02-01
DE102006010469A1 (de) 2007-09-13
RU2008139628A (ru) 2010-04-20

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