WO2008138503A1 - Pliage d'éléments dans des productions en série à cadence élevée - Google Patents

Pliage d'éléments dans des productions en série à cadence élevée Download PDF

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Publication number
WO2008138503A1
WO2008138503A1 PCT/EP2008/003555 EP2008003555W WO2008138503A1 WO 2008138503 A1 WO2008138503 A1 WO 2008138503A1 EP 2008003555 W EP2008003555 W EP 2008003555W WO 2008138503 A1 WO2008138503 A1 WO 2008138503A1
Authority
WO
WIPO (PCT)
Prior art keywords
crimping
component
flanging
robot
components
Prior art date
Application number
PCT/EP2008/003555
Other languages
German (de)
English (en)
Inventor
Chris Körbel
Sven Kuchenbrod
Stefan Reith
Original Assignee
Edag Gmbh & Co. Kgaa
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 Edag Gmbh & Co. Kgaa filed Critical Edag Gmbh & Co. Kgaa
Publication of WO2008138503A1 publication Critical patent/WO2008138503A1/fr

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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
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/002—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units stationary whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • B62D65/06—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components the sub-units or components being doors, windows, openable roofs, lids, bonnets, or weather strips or seals therefor

Definitions

  • the invention relates to a method and a device for the beading of components, preferably for the beading of shaped sheet metal parts.
  • the invention is particularly directed to the manufacture of vehicles, preferably automobiles.
  • Flanging is particularly suitable as a joining technique, in which the outer and inner panels are clamped relative to one another in a flanging bed and firmly connected to one another by producing a folded seam connection.
  • a crimping tool removes a flange of the outer panel and places it around a crimping edge against the inner panel, so that the inner panel is firmly held in a fold pocket of the outer panel produced by folding.
  • the crimping bed provides the sheets to be joined together along the crimping edge and thus absorbs the force acting on the outer sheet during crimping.
  • Conventional flanging beds are equipped with the clamping devices required for clamping the sheets.
  • the outer and inner sheets are placed in pairs as prefabricated composite in a crimping station, there positioned by a handling robot in Bördelbett and stretched by means of the clamping technique of the crimping bed relative to each other in a joining position. Subsequently, they are connected together in the joining position by a flanging robot by crimping. After crimping, the clamping technology is released, and the handling robot or a further handling robot arranged in the station grips the joined component and deposits it in a tray.
  • the invention is based on a crimping station, in which a flanging robot crimps a component which is fixed in a crimping position.
  • a first handling robot is provided which grips one of the components in each case and positions and preferably also fixes it in the crimping position.
  • Beading may be slip flanging with one or more slide flanging members, but roll flanging with one or more flanging rollers is preferred.
  • a composite component is produced from a plurality of separately shaped structural parts, namely by creating a rabbet joint between at least two structural parts per composite component.
  • the invention not only relates to folding, d. H. the production of a rabbet joint, but the flanging of components in general, for example, in each case only one shaped sheet metal part.
  • a flange of the relevant component is folded around a flanged edge or further folded, possibly even completely folded.
  • the invention thus relates to the simple flanging, in which no rabbet joint is produced.
  • the component can correspondingly be a single structural part or present prior to crimping as a conglomerate of relatively loosely prefabricated or even by the handling robot first leading to structural parts.
  • At least one further, second handling robot is provided in the flanging station in addition to the first handling robot, which is operated in alternation with the first handling robot and also each one of the components engages and positioned in the crimping position and preferably also fixed.
  • the handling robot and the flanging robot are controlled by a control coordinated.
  • the control can be a control provided in the station only for the station or a higher-level control, for example, the higher-level control of a production line in which the flanged components continue machined or assembled.
  • the handling robots and the flanging robot are controlled such that the first handling robot grips a first of the components and the second handling robot grips a second of the components, one of the handling robots precisely one of the components, and position the components sequentially in the flanging position, and preferably also fix them.
  • the crimping robot crimps the respectively fixed in the crimping component. If the first handling robot has positioned the component gripped by it in the crimping position and the crimping robot has crimped this component, the component is moved out of the crimping position and deposited.
  • the second handling robot positions the component gripped by it in the hemming position, the hemming robot again performs the hemming process, and the hauled second component is moved out of the hemming position and deposited so that the hemming position is free for a next component .
  • the time required for the crimping process can be used for the pre-entry of the respective next component.
  • the handling time required for gripping and positioning is shared between the handling robots. While the one component is still positioned and fixed, the next component can already be grasped and moved closer to the flanging position. In a series production, each of the handling robots thus has a larger proportion of the cycle time available.
  • the crimping station can also have more than two handling robots which can be moved in a corresponding sequence, ie. H. in alternating operation, be used for the positioning and fixing of the components. Alternating operation of more than two handling robots is also understood as an alternating sequence with respect to the sequence of use of the handling robots.
  • the invention is particularly advantageous in combination with a crimping method and a crimping tool, as disclosed in EP 1 685 915 A1.
  • the crimping process is carried out with a plurality of flanging elements descending in the same work cycle, the crimping process time is already reduced to a minimum. Accordingly, the harmless for the cycle time reduces the time for the Handling of the components is available.
  • the flanging elements which simultaneously depart in succession are preferably supported on a common tool head, so that only a single actuator, preferably a robot arm, is required. In principle, however, several actuators which can be moved independently of one another mechanically could also drive off the flange one behind the other in a control-synchronized barrel.
  • the invention is advantageous in particular when using a crimping tool with a leading and a trailing crimping or optionally also a third crimping, which trailing these two crimping, but it is also beneficial for conventional crimping with conventional crimping tools, in which the same crimping or the plurality of crimping tools in separate runs the descending flange moves off or depart.
  • the handling robots not only serve for positioning, but also for fixing the respective component in the flanging position. Preferably, they also fix the respective component during beading.
  • the same handling robot which has positioned the component in the hemming position, and preferably also holds it in the fixed state during hemming, also moves the component out of the hemming position and deposits it for removal from the hemming station.
  • the components are gripped in a particularly preferred embodiments only once, positioned and fixed and held during beading without grasping in the hemming position and also requested and filed after crimping without grasping. The more sub-processes of the handling by the same handling robot without encompassing or at least without interim storage are carried out, the more the time required only for handling per component can be shortened.
  • the components are spent during the implementation of the process continuously or according to the cycle time of production individually or batchwise in the crimping, for example, held loosely or clamped on a line conveyor. Alternatively, they may also be required in the crimping station in sufficient numbers before the start of the process.
  • each of the next component for the crimping process is spent in an always same receiving position, in which it of one of Handling robot is gripped.
  • the gripping can be done by means of one or more clamping gripper (s) or one or more gripper (s), which or exerts on the respective component only an attraction force or exercise, preferably a suction or magnetic force.
  • the handling robots each have a gripping device with at least one gripper for gripping a respective component by means of a tightening force.
  • the at least one gripper is a suction or magnetic gripper.
  • the crimping station is equipped with at least one crimping bed, which provides the components with a support against which the respective component located in the crimping position is pressed, wherein the components in the crimping position advantageously rest on the top of the crimping bed and also with their weight press against the support.
  • the support of the crimping bed is shaped adapted to the shape of the component to be crimped and supports the relevant component in the region of the crimping edge, around which a flange of the component, preferably an edge flange, is completely or partially folded.
  • the support of the crimping bed defines the crimping position, d. H. it gives the components the flanging position.
  • the handling robots are used as hold-down by one of the handling robot presses the component located in the flanging position against the hemming bed, ie against the support, and thus fixed in the hemming position and holds during the beading in the fixed state.
  • the handling robots can each be provided with a gripping device with which the respective component is fixed in the crimping position only by pressing against the crimping bed.
  • the gripping devices may each have at least one clamping gripper for a clamping fixation of the respective component on the crimping bed.
  • the flanging can be additionally equipped with its own clamping technology, but advantageously can be dispensed with such an additional clamping technology, at least it can be compared conventional crimp beds are reduced.
  • the hemming bed preferably has at least one positioning means, which guides the component in a guiding engagement with the respective component during the positioning.
  • the crimping bed and each of the components have a plurality of positioning means and positioning counter means, which come together in the positioning of the respective component in a guide engagement, which leads the respective component up to the crimping position relative to the crimping.
  • the respective handling robot preferably grips all the structural parts of the respective component and clamps these structural parts relative to one another in a clamping state which they are then permanently connected by crimping firmly together.
  • the gripping means of the handling robots are advantageously arranged for such clamping.
  • Each of the gripping devices preferably has at least one own gripper for each structural part per component, which grips only the respectively associated structural part.
  • these, in each case only one of the structural parts gripping gripper may be in particular suction pad or magnetic gripper or otherwise exert an attractive force on the relevant structural part, which acts only on one side of the structural part.
  • An attracting force calling gripper are particularly advantageous if one of the structural members to be joined has an opening that can protrude through the respective gripper to grab another of the structural parts with an attractive force.
  • the attracting gripper can, through the opening of one structural part, grip the other structural part on an inner side facing the structural part which has the opening.
  • the handling robots can each be equipped with a joining tool, which is preferably arranged on a frame of the respective gripping device. With such a joining tool, structural parts which form a composite component after flanging can be pre-added.
  • the respective handling robot intervenes to be joined structural parts, they provisionally interconnected, for example by means of spot welding, and then positioned in the flanging position.
  • the joining tool for pre-joining may be a spot welding device or, for example, also a crimping tool.
  • a crimping method in which a component is pressed against a crimping bed by a handling robot of the type disclosed and thus fixed in a crimping position for crimping and crimping, preferably only therethrough, is therefore a further subject of the invention.
  • a flanging device is a further subject matter of the invention, which comprises a flanging robot, a flanging bed which is preferably stationary during beading and a handling robot which is adapted to grip the component to be flanged, to position it in the flanging position relative to the flanging bed and as a hold-down device, d. H. acting as pressing device to fix.
  • the handling robot carries a gripping device of the disclosed type, which can not only grip, position and fix a one-piece component, but is adapted to collect a plurality of structural parts, which are to be grooved by crimping into a composite component together and in to grasp this sense and also to clamp relative to each other already in a clamping state, in which these structural parts positioned relative to the hemming bed, fixed in the crimping position by pressing and are joined by crimping.
  • a gripping device of the disclosed type which can not only grip, position and fix a one-piece component, but is adapted to collect a plurality of structural parts, which are to be grooved by crimping into a composite component together and in to grasp this sense and also to clamp relative to each other already in a clamping state, in which these structural parts positioned relative to the hemming bed, fixed in the crimping position by pressing and are joined by crimping.
  • the handling robots may exchange the gripping devices of one set used in an expired production for the gripping devices of another set adapted for the components of a subsequent production. This allows a rapid change of, for example, vehicle doors of a first vehicle model on vehicle doors of a second vehicle model or even a more extensive conversion, for example, from a vehicle door on a sunroof or a tailgate of a vehicle.
  • the components of different types and the gripping devices can be matched to one another in such a way that the components of different types can be handled with the same gripping device.
  • Two components of different types for example, two vehicle doors of different vehicle models are matched in such embodiments designed so that they have the same place, orientation and shape receiving locations where the grippers of the same gripping device grab the respective component, d. H. be able to record.
  • the gripping device may be equipped with one or more grippers specifically only for the components of one type and one or more grippers for components of only the other type, including the case where the gripper Gripping device has one or more grippers for the components of both types or possibly even more different types in addition to the specially assigned grippers.
  • a plurality of crimping beds can be provided in the crimping station for flexibility in production changes, for example a first crimping bed for components of a first type and a second crimping bed for components of a second type.
  • the crimping beds are advantageously arranged so that they can be exchanged quickly during a production change.
  • the exchange can be carried out, for example, with the handling robots or an optional further robot.
  • the flanging beds are independent of robots, in particular the handling robots, movable in and out of the hemming position. You can even be moved or resting on a movable base.
  • a guideway leads along which the hemming bed located in the hemming position in the old production can be moved in one direction from the hemming position and a next adjacent hemming bed in the same direction into the hemming position.
  • the invention aims, as already mentioned, particularly at the automobile production. It is particularly advantageous for beading attachments, such as vehicle doors, sliding roofs, tailgates, hoods or mountable fenders within this area.
  • Such attachments are usually composed of several structural parts, such as an outer part and an inner part.
  • the respective outer part is in many cases in the assembled state part of an outer skin of the automobile.
  • the outer part is generally a sheet metal part and in the method according to the invention is in most applications the structural part which is crimped.
  • the inner part may also be a sheet metal part, but in principle it may for example be a plastic part.
  • the invention is not necessarily limited to the automotive sector, but also in the field of commercial vehicles and in general of vehicles, including air and water vehicles advantage.
  • FIG. 1 shows a crimping station in a perspective view.
  • components B are crimped.
  • Each of the components B has an outer panel A and an inner part I, for example likewise a sheet metal part, which reach the crimping station in a pre-filled state.
  • the outer panels A and the inner panels I are already positioned and aligned in pairs relative to one another for the purpose of forming a strong bond and, for example, stapled, crimped, stapled or otherwise provisionally fastened together.
  • crimping flange which extends along an edge of an outer edge of each outer panel A along a crimping edge, preferably circulates in a closed circulation until completely folded against the respective inner part I, thereby forming a folding pocket, in which an edge region of the respective inner part I fixed is trapped.
  • a first handling robot 1, a second handling robot 2 and a flanging robot 5 are arranged distributed around a central flanging position C.
  • the robots 1, 2 and 5 are arranged stationary and each have a robot arm which is equipped with several degrees of freedom of movement and carries a tool at its end.
  • the handling robot 1 carries at the end of its robot arm a gripping device 3 and the handling robot 2 a gripping device 4.
  • a crimping tool 6 is fastened.
  • the gripping devices 3 and 4 are the same.
  • the crimping tool 6 corresponds to the crimping tool of EP 1 685 915 A1.
  • It has a tool head for attachment to the robot arm and at least two, preferably exactly two rotatably mounted from the tool head crimping rollers, namely a leading and a trailing crimping roller, with which the crimping robot 5 in the same operation the crimp flange located in the flanging position C component B. leaves while completely flipping the flange of the relevant component B in a single run in two crimping steps.
  • a hemming bed 7 is arranged.
  • the component B located in the crimping position rests with its outer sheet A on a support of the crimping bed 7.
  • the support is following the flanged edge of the outer panel A and shaped adapted at least in the edge region of the outer panel A at the contour, so that the outer panel A rests flat and deformation-free on the support during flanging.
  • the hemming bed 7 absorbs the force acting on the respective component B during the hemming process.
  • the hemming bed 7 determines in this way the hemming position C, d. H. it gives the component B the Bördelposition C before.
  • the hemming bed 7 is stationary during crimping.
  • the outer plates A and inner parts I are as already mentioned in the initial state, in which they are required in the crimping station, prefixed. In the pre-assembled state, they are sufficiently firmly connected to each other so that they can be received by each one of the handling robots 1 and 2 without changing the relative position and orientation to each other.
  • the gripping devices 3 and 4 have grippers for each of the outer plate A and grippers for each of the inner part I.
  • the gripping devices 3 and 4 are further designed so that they can receive the components B from the side of the respective inner part I ago.
  • the inner parts I each have one or more apertures through which one or more grippers of the gripping device 3 or 4 can engage the outer plate A on its inner side facing the inner part I and can grip in this sense, for example by suction or by magnetic force.
  • the gripping devices 3 and 4 are designed so that they can clamp the outer panel A and the inner part I relative to each other in a clamping state in which these two structural parts A and I are then joined together in the flanging position C by crimping.
  • the handling robots 1 and 2 work alternately. They take each other in an alternating sequence of one of the components B, clamp the outer panel A and the inner part I of the relevant component B relative to each other and spend the recorded and tensioned component B in the clamping state in the crimping position C.
  • the handling robot 1 or 2 positioned the picked-up component B in the clamping state relative to the hemming bed 7 and pushes the positioned component B against the support of the crimping bed 7, so that the component B is positioned not only in the hemming position after location and orientation, but also fixed by pressing.
  • the respective handling robot 1 or 2 holds the component B down against the hemming bed 7 during the entire hemming process, so it is also used in a double function as a hold-down for hemming.
  • the hemming bed 7 is also equipped with only one or more positioning means (s), for example one or more centering pin (s), and the components B corresponding respectively to one or more positioning mating means, the one or more approaching the hemming bed 7 in a guide engagement with the one or more positioning means (s) of the crimping bed 7 passes or arrive, so that the components B each center in the final phase of positioning relative to the support of the crimping 7.
  • the flanging robot 5 moves the flare flange of the held down by the handling robot 1 or 2 and fixed in this way in the flanging position C component and generates in this way the rabbet connection between the outer panel A and the inner part I.
  • the handling robot 1 or 2 moves the now firmly joined component B from the flanging position C and places it in the crimping.
  • the described cycle perform the handling robots 1 and 2 in an alternating sequence, so that the cycle time can be reduced to a minimum, as they only by the time required for the crimping time and the time for positioning and fixing in the crimping position C and the Release of the flanging position C is determined.
  • the crimping process is minimized if the crimping operations required to transfer the crimping flange with multiple crimping rollers are performed simultaneously in a single operation, as is preferred.
  • FIG. 2 shows the crimping station in a plan view and at least as regards the robots 1, 2 and 5, in the same state as FIG. 1.
  • the robots 1, 2 and 5 are arranged stationarily distributed in a ring which is intended around the crimping position C.
  • the angular distance of the flanging robot 5 is greater than the angular distance between the handling robots 1 and 2 to each of the handling robots 1 and 2.
  • the flanging robot 5 is with respect to a imaginary line through the crimping position on the one, and the handling robots 1 and 2 are arranged on the other side of the line.
  • the handling robots 1 and 2 are arranged at an angular distance of about 90 ° and have to the flanging robot 5 at an angular distance of more than 120 °.
  • the components B are in the pre-assembled state in the direction of the arrow in line, for example by means of a belt conveyor, moved into the crimping station, so that in each case a frontmost component B occupies a receiving position A, in which it of one of the handling robot 1 and 2 is recorded. Shown in the clock cycle is a moment in which the first handling robot 1 fixes the component B picked up by it in the clamping state on the hemming bed 7 in the hemming position against the hemming bed 7 so that it can be crimped.
  • the crimping robot 5 keeps the crimping tool 6 ready in a position which is remote from the crimping position C for carrying out the crimping process.
  • the second handling robot 2 has already picked up a second component B and holds it in the clamping state in a waiting position in the vicinity of the crimping bed 7 in order to be able to position and fix this component B as quickly as possible in the crimping position C at the next change.
  • a storage position D below the component B located in the waiting position is a storage position D, in which the flanged components B are stored and from which they are transported one after the other.
  • the hemming robot 5 moves the hemming tool 6 to the hemming position C and positions it in a starting position for the work.
  • the crimping robot 5 moves the crimping tool 6 into a second, withdrawn position on the other side of the folding bed 7, in order to release the crimping bed 7 for the next component B.
  • the handling robot 2 moves this next component B from the waiting position to the hemming position C, fixes it in the hemming position C, and the hemming robot 5 again carries out a hemming process.
  • the first handling robot 1 places the component B which is still held by it in the previous clock cycle in the storage position D, takes the next component now in the receiving position A. B and moves it to the waiting position, which holds in Figure 2 held by the other handling robot 2 in the clamping state component B.
  • the described sequence starts anew with reversed roles of the handling robots 1 and 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Automatic Assembly (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de pliage d'éléments, de préférence de pliage au moyen de rouleaux, selon lequel a) un premier robot de manutention (1) saisit un premier élément (B) et le met sur un emplacement de pliage (C), b) un robot de pliage (5) plie le premier élément (B) sur l'emplacement de pliage (C), c) le premier élément plié (B) est sorti de l'emplacement de pliage (C), d) un deuxième robot de manutention (2) saisit un deuxième élément (B) et le met sur l'emplacement de pliage (C) libéré par le premier élément (B), e) le robot de pliage (5) plie le deuxième élément (B) sur l'emplacement de pliage (C), f) les étapes (a à e) sont répétées à la cadence d'une production de série avec d'autres éléments (B).
PCT/EP2008/003555 2007-05-11 2008-05-02 Pliage d'éléments dans des productions en série à cadence élevée WO2008138503A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007022102.0 2007-05-11
DE200710022102 DE102007022102B4 (de) 2007-05-11 2007-05-11 Bördeln von Bauteilen in Serienfertigungen mit kurzen Taktzeiten

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Publication Number Publication Date
WO2008138503A1 true WO2008138503A1 (fr) 2008-11-20

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