WO2013149894A1 - Outil de formage guidé par robot et procédé de formage - Google Patents

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

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Publication number
WO2013149894A1
WO2013149894A1 PCT/EP2013/056425 EP2013056425W WO2013149894A1 WO 2013149894 A1 WO2013149894 A1 WO 2013149894A1 EP 2013056425 W EP2013056425 W EP 2013056425W WO 2013149894 A1 WO2013149894 A1 WO 2013149894A1
Authority
WO
WIPO (PCT)
Prior art keywords
forming tool
robot
folding
pressing
tool according
Prior art date
Application number
PCT/EP2013/056425
Other languages
German (de)
English (en)
Inventor
Johann Kraus
Marion SCHERER
Original Assignee
Kuka Systems Gmbh
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 Kuka Systems Gmbh filed Critical Kuka Systems Gmbh
Priority to EP13715924.0A priority Critical patent/EP2834024B1/fr
Publication of WO2013149894A1 publication Critical patent/WO2013149894A1/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
    • B21D19/00—Flanging or other edge treatment, e.g. of tubes
    • B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
    • B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
    • B21D19/043—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers for flanging edges of plates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B21D39/023—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors using rollers

Definitions

  • the invention relates to a robot-guided
  • Forming tool in particular folding tool and a
  • Folding tool with a pressing element e.g. one
  • Folding roller wear and press against the flanged flange of a workpiece and move along a folding path.
  • Such folding tools may have a rigid or resiliently mounted foldable folding roller.
  • the pressing force is applied by the robot, whereby its trajectory is programmed accordingly during the folding process.
  • the invention solves this problem with the features in the method and device main claim.
  • the claimed robotic forming tool
  • the robot itself is an elastic system with its links and robot axes and has different spring stiffnesses depending on the axis position.
  • a robot itself is an elastic system with its links and robot axes and has different spring stiffnesses depending on the axis position.
  • the claimed forming and folding technique provides a remedy. It acts in close proximity to the processor and can control or regulate robot-related fluctuations in the pressing force. This compensation is independent of the cause of the force fluctuation.
  • Process stations are increased locally. When folding, this may e.g. Be corners or bends in the fold that oppose the Rollfalzen a higher resistance. At other points, the pressing force may possibly also be reduced in order to reduce the damage to the workpiece
  • Pressing force increases the engine and drive torque in a favorable manner.
  • the circumstance is advantageous that the pressing force and the drive torque in a certain ratio, in particular in a
  • a pressing element is preferably designed as a freely rotatable or driven folding roller and, if appropriate, can also be present multiple times.
  • the pressing member may also be acted upon by a spring to
  • the components of the forming tool, in particular folding tool, in particular the detection device and the adjusting device may be formed in different ways.
  • Robot control can have advantages for the targeted adjustment of the contact pressure, in particular for rail-related local force changes.
  • An indicator makes it easier for an operator to adjust manually, and also to monitor and track the application forces in the process and at different process locations along a programmed path.
  • the adjusting device adjusts the pressure element independently.
  • the sensor system for direct or indirect detection of the pressing force (F) acting on the pressure element has, in one exemplary embodiment, a force sensor and / or a displacement sensor.
  • a variant provides that the adjusting device acts on the pressure element directly or indirectly via a spring.
  • the folding tool has a holder with one or more pressing element (s), wherein the holder is connected to the adjusting device.
  • FIG. 1 shows a robot with a folding tool in spring-stiff bending position
  • Figure 2 the robot of Figure 1 in one
  • Figure 3 a schematic diagram of robot
  • Control device Figure 4: a variant of the arrangement of Figure 3 with a spring-loaded pressure element and
  • the invention relates to a forming tool and a
  • the invention also relates to a processing device (1) with a programmable multi-axis robot (3) and a
  • Embodiments relate to a folding tool (2) and a folding method and also apply correspondingly to other forming tools (2) and forming methods.
  • the robot (3) has a plurality of movable, in particular articulated, robot members
  • Training, combination and number of translatory and / or rotary robot axes is arbitrary.
  • an articulated arm robot or articulated robot Preferably comes an articulated arm robot or articulated robot
  • the robot (3) has six rotary axes including a three-axis robot hand (4). It can also have fewer axes, e.g. five axes, or one or more
  • the robot (3) is connected to a robot controller (22), which is shown schematically in FIG.
  • the robot controller (22) includes one or more
  • Processing units with processors, input and output means as well as memory for data and programs.
  • Robot controller (22) is a web program for the
  • the robot (3) performs a folding tool (2) along this programmed path.
  • the robot (3) presses this
  • Workpiece (5) is designed as a folding process. in the
  • a robot folding is used, wherein the pressure element (10) is a flange of a workpiece (5) in one or more stages
  • the workpiece (5) may consist of one or more thin sheets, which can be clamped by the folded flange during folding and another sheet.
  • the programmed processing path can be programmed as an individual route or sequence of routes, alternatively or additionally, but also pointwise or as a sequence of points.
  • the folding tool (2) is moved continuously along a fold course on a workpiece edge and in a web path at least in sections.
  • the folding tool (2) is in Figures 1 and 2 in one
  • FIG. 1 illustrated exemplary structural embodiment. It has a frame (7), e.g. a long time
  • the frame (7) carries at the upper end
  • Robotic connector (9) for fixed or detachable connection to the driven element, e.g. the rotary flange, the
  • Robot end link (4) When the folding tool (2)
  • the axis (8) can be aligned with the axis of rotation of the said output element.
  • a pressure element (10) is arranged, with which in the tension or compression direction, a pressing force (F) is exerted.
  • the pressing element (10) can be present individually or multiple times.
  • One or more pressing elements (10) may be located on a holder (11) which is rigidly or movably mounted on the frame (7).
  • a pressing element (10) may be formed, for example, as a folding roller rotatable about a bearing axis with a jacket contoured according to the folding requirements.
  • a multi-stage folding process eg with pre-and Fertigfalzen
  • a plurality of folding rollers (10) with different shell geometries, such as cylindrical and conical, may be present and arranged on different sides of the frame (7).
  • the folding tool (2) has a detection device (14) for the pressing force (F) at the processing station (26) and a controlled by the detection device (14) or adjusting device (15) for the adjustment of a movably arranged on the frame (7)
  • the adjusting device (15) has one connected to the detection device (14)
  • An adjustability of a pressure element (10) can be given in one or more axes or directions and can also have a selectable kinematics. In the embodiment shown is a linear and
  • a pressing element (10) can be mounted individually adjustable on the frame (7). In the shown
  • Embodiment is the holder (11) with the plurality
  • the storage for said single or multi-axis mobility can be performed in any suitable manner and is preferably low friction. It can be e.g. to act a sliding bearing. The details are not shown in the drawings.
  • a pressing element (10) or on a holder (11) with one or more pressing elements (10) may further act a spring (13), for example along the axis (8) in the frame (7) is arranged and the corresponding axial Evasive movement of pressure element (10) and possibly Holder (11) allows.
  • the spring (13) can eg as
  • a folding roller (10) may have a freely rotatable mounting.
  • a drive (24) indicated schematically in FIG. 4 is provided at a suitable location, e.g. on the holder (11) is arranged. This can be one
  • the drive (24) may be connected to the robot controller (22) and receive therefrom a control signal for the specification or for setting a target value for the speed or the speed.
  • the rolling speed at the processing location (26) as a function of the guiding or path speed of the robot (3) along the
  • Falzverlaufs be set.
  • the speeds may e.g. be chosen the same size.
  • the rotary drive and the offset or guide movement of the robot (3) are then synchronous.
  • the adjusting device (15) adjusts in the aforementioned manner a pressing element (10) in at least one
  • Adjusting device (15) or the detection device (14) can be designed to compensate variable robot elasticities.
  • the robot (3) may have different spring elasticity and deviates more or less strongly when applying the pressing force (F) itself.
  • Figure 1 shows this a kinking with relatively high
  • the spring stiffness is significantly lower.
  • the robot (3) is symbolized by a spring which is arranged between a schematically represented base (28) and the folding tool (2).
  • the spring-stiff robot (3) of Figure 1 corresponds to the schematic representation of Figure 5 with a large length (L) of the robot (3) symbolizing spring.
  • FIGS. 5 and 6 show that the real ones acting on the processing site (26)
  • Pressing force (F) is less in the soft robot of Figure 2.6 than in the hard robot of Figure 1.5.
  • the aforementioned spring (13) is present, which is more or less compressed according to the spring stiffness of the robot (3).
  • the system includes a series connection of springs (3, 13).
  • the adjusting device (15) and the detection device (14) are able to detect this change in the pressing force (F) and, if necessary, to change it.
  • the adjusting device (15) has for this purpose an actuator (18) which acts on the applied pressure element (10) and additionally introduces a force and a travel. This situation is schematic in FIG shown.
  • the actuator (18) arranged on the frame (7) is supported on the robot (3) via the robot connection (9) and acts directly or indirectly on the applied pressure element (10) via the spring (13). In the embodiment shown is for an increase in the
  • Process point (26) can also represent the so-called Tool Center Point (TCP) of the folding tool (2).
  • TCP Tool Center Point
  • the actuator (15) thus changes the effective length of the folding tool (2) and the position of the TCP.
  • the actuator (18) can be designed in different ways. Preferably, it consists of dimensionally stable or
  • incompressible media allows for driving a defined path adjustment and force change.
  • Figure 3 shows a general scheme for the arrangement and formation of an actuator (18) again. It is arranged and supported on the frame (7), wherein it is preferably located between the robot connection (9) and the pressing element (10) or the holder (11). In the Scheme variant shown in Figure 3 is missing a spring (13), so that the actuator (18) directly on the holder (11) or a
  • Pressing element (10) acts and this adjusted.
  • the actuator (18) is connected to the controller (16) and is controlled by this.
  • the actuator (18) shown schematically in Figure 3 may e.g. an electromotive spindle drive or
  • FIG. 4 shows another variant.
  • the actuator (18) is designed here as a hydraulic unit (19). This has on the frame (7) on a setting cylinder (21), with a preferably incompressible fluid, eg a
  • Hydraulic oil is acted upon and a piston rod extends correspondingly far on a pressing element (10) or a holder (11) directly or as in Figure 4 via the intermediate spring (13) indirectly
  • the hydraulic unit (19) further comprises a drive (20) connected to the controller (16), e.g. one
  • Servomotor in particular an electric servomotor, which acts with an actuator on another cylinder and the piston and the said fluid
  • Hydraulic unit (19) can be mounted on the folding tool (2) and carried by the robot (3).
  • the drive (20) and acted upon by him first cylinder disposed externally and via a line with the
  • Tool-side actuating cylinder (21) to be connected.
  • Figure 1 and 2 show this example line connections on the frame (7).
  • the pressing force (F) or the reaction force acting on the pressing element (10) can be detected with a detection device (14).
  • the detection device 14
  • Detection device (14) having a sensor (17) with one or more suitable sensors.
  • the force can be measured, e.g. by a load cell, strain gauges or the like other sensors at a suitable location.
  • Folding tool (2) without spring (13) is such a sensor (17) with force measurement, e.g. between actuator (18) and
  • the pressing force (F) is possible, for example via the spring travel of a spring (13) according to the variant of FIGS. 4 to 7.
  • Sensorics can e.g. a distance gauge rigidly mounted on the frame (7) and defining the distance to a process-side reference point, e.g. to the workpiece (5), measures. From the distance can on the spring length (L) of the actuator (18) compressed spring (13) is closed and from this on the spring characteristic, the force can be determined.
  • the spring length (L) of the actuator (18) compressed spring (13) is closed and from this on the spring characteristic, the force can be determined.
  • Spring length or its change are measured directly, e.g. via a Hall sensor. There are more besides
  • the detection device (14) can also be connected to a display (27) according to FIG. 4. Optically or in another suitable way, the measured or detected values, in particular the values, can be displayed on the display (27)
  • the detection device (14) is further with the
  • Actuator (15) and in particular connected to the controller (16) and feeds there the detected actual value for the pressing force (F).
  • the controller (16) also has a fixed or
  • variable setpoint input The adjusting device (15), in particular the regulator (16) may e.g. with the
  • Robot controller (22) to be connected.
  • the setpoint input can be made via the robot controller (22).
  • a set point input may be provided in some other way, e.g. manually by an operator.
  • a controller (16) shown in Figure 4 the controller (16) shown in Figure 4
  • Input means (23) may be arranged, which can be actuated by an operator, for example a rotary or Slide switch.
  • a display (not shown) allows control of the input.
  • a remote setting and programming of the controller (16) for example by a computer or other setting device before or over distance with a line connection, eg via a network, the Internet or the like. possible.
  • the relationship and the mutual influence of the desired value input from the robot controller (22) and from another location, in particular from input means (23), can be configured as required.
  • the desired value input from the robot controller (22) and from another location, in particular from input means (23) can be configured as required.
  • the robot controller (22) and from another location, in particular from input means (23) can be configured as required.
  • a setpoint input for the pressing force (F) of the robot controller (22) can be omitted.
  • the setpoint is set only via the input means (23).
  • a local set point input may be useful to adjust the contact force (F) to specific process requirements. This can be done for example at corners or bending points or curves of a flange. In such places, the flange to be bent sets the pressure element (10) a greater resistance than at straight areas of the fold. With a corresponding setpoint input can via the actuator (15) the
  • Pressing force (F) can be increased to overcome the resistance. Furthermore, there may be other process stations where an increased or possibly also reduced pressure force (F) is required for other reasons.
  • the folding tool (2) may further comprise means (25) for slip avoidance between a driven
  • the drive (24) of the pressing element (10) can in this case e.g. have a speed control.
  • the nominal value for the pressing force F can be increased via the set value input on the controller (16), as a result of which the resistance for the drive (24) and the moving pressing means (10) are also increased. This leads to a slowdown in the
  • Embodiments are possible in various ways.
  • the features of the embodiments can be interchanged or combined with each other.
  • the pressing means (10) can be varied. It can be designed, for example, as a pressure stamp or as a pressure finger or in another suitable manner. Also, the processing ⁇ or Andrücklui may have a different design.
  • the folding tool can be used as another pressing tool,
  • Pressing elements (10) workpiece parts are pressed against each other pointwise or in sections and thereby joined, e.g. via a clip connection, an adhesive connection or the like.
  • a drive (24) for a pressure element (10) may alternatively be arranged on the frame (7) and following the adjustment of the pressure element (10)
  • folding device 1 processing device, folding device

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

Abstract

L'invention concerne un outil de formage (2) guidé par robot et un procédé de formage, en particulier de pliage de pièces (5). L'outil de formage (2) présente un raccordement au robot (9) et un bâti (7) sur lequel est guidé de manière déplaçable un élément de compression (10). L'outil de formage (2) présente également un dispositif de détection (14) pour la force de compression F et un dispositif de réglage (15) commandé ou réglé par le dispositif de détection (14) pour le déplacement de l'élément de compression (10). Le dispositif de réglage est conçu pour compenser les élasticités variables du robot.
PCT/EP2013/056425 2012-04-02 2013-03-26 Outil de formage guidé par robot et procédé de formage WO2013149894A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13715924.0A EP2834024B1 (fr) 2012-04-02 2013-03-26 Outil de formage guidé par robot et procédé de formage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202012101187U DE202012101187U1 (de) 2012-04-02 2012-04-02 Andrückwerkzeug, insbesondere Falzwerkzeug
DE202012101187.5 2012-04-02

Publications (1)

Publication Number Publication Date
WO2013149894A1 true WO2013149894A1 (fr) 2013-10-10

Family

ID=48092920

Family Applications (1)

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

Country Status (4)

Country Link
EP (1) EP2834024B1 (fr)
CN (1) CN103358177B (fr)
DE (1) DE202012101187U1 (fr)
WO (1) WO2013149894A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015007966A1 (de) 2015-06-22 2016-12-22 Audi Ag Falzvorrichtung
CN110153294A (zh) * 2019-05-29 2019-08-23 安徽巨一自动化装备有限公司 一种基于移动终端的机器人滚边机构及其调试方法
DE102022129738A1 (de) 2022-11-10 2024-05-16 Thyssenkrupp Ag Falzroboter mit zentraler Falzkrafterfassung sowie Verfahren zum Betreiben und zum Modernisieren eines Falzroboters

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MY175828A (en) * 2016-02-02 2020-07-10 Honda Motor Co Ltd Workpiece bending method and workpiece bending apparatus
CN106391887A (zh) * 2016-11-29 2017-02-15 安徽瑞祥工业有限公司 一种机器人包边处理装置
JP6904876B2 (ja) * 2017-10-16 2021-07-21 トヨタ自動車株式会社 ローラヘミング加工方法およびローラヘミング加工装置
FR3078000B1 (fr) * 2018-02-19 2020-03-13 Faurecia Systemes D'echappement Ensemble de fabrication d'une piece metallique et utilisation d'un tel ensemble
CN109807196B (zh) * 2019-03-08 2020-12-15 安徽机电职业技术学院 一种检查机器人
CN112113689A (zh) * 2020-09-15 2020-12-22 智能移动机器人(中山)研究院 一种基于霍尔的弹簧足底传感器系统

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WO2000062955A1 (fr) * 1999-04-19 2000-10-26 Abb Ab Procede d'assemblage
DE202004012580U1 (de) * 2004-08-10 2005-09-22 Kuka Schweissanlagen Gmbh Falzwerkzeug zum Roboterfalzen
DE102004032392A1 (de) * 2004-07-02 2006-01-26 Dennis Derfling Verfahren und Vorrichtung zum Umlegen von Bördelkanten eines Werkstücks
DE202009005111U1 (de) * 2009-08-05 2010-12-30 Kuka Systems Gmbh Falzeinrichtung

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JPH10138094A (ja) * 1996-11-07 1998-05-26 Niigata Eng Co Ltd 工作機械における工具折損検出方法及び装置
JP4795462B2 (ja) * 2009-11-12 2011-10-19 ファナック株式会社 力センサを搭載したロボットマニピュレータを用いたロールヘム加工装置
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DE102011006679B4 (de) 2011-03-16 2018-07-12 Ferrobotics Compliant Robot Technology Gmbh Aktive Handhabungsvorrichtung und Verfahren für Kontaktaufgaben

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WO2000062955A1 (fr) * 1999-04-19 2000-10-26 Abb Ab Procede d'assemblage
DE102004032392A1 (de) * 2004-07-02 2006-01-26 Dennis Derfling Verfahren und Vorrichtung zum Umlegen von Bördelkanten eines Werkstücks
DE202004012580U1 (de) * 2004-08-10 2005-09-22 Kuka Schweissanlagen Gmbh Falzwerkzeug zum Roboterfalzen
DE202009005111U1 (de) * 2009-08-05 2010-12-30 Kuka Systems Gmbh Falzeinrichtung

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015007966A1 (de) 2015-06-22 2016-12-22 Audi Ag Falzvorrichtung
WO2016206787A1 (fr) * 2015-06-22 2016-12-29 Audi Ag Dispositif de pliage
DE102015007966B4 (de) 2015-06-22 2019-05-16 Audi Ag Falzvorrichtung
CN110153294A (zh) * 2019-05-29 2019-08-23 安徽巨一自动化装备有限公司 一种基于移动终端的机器人滚边机构及其调试方法
CN110153294B (zh) * 2019-05-29 2021-03-09 安徽巨一科技股份有限公司 一种基于移动终端的机器人滚边机构及其调试方法
DE102022129738A1 (de) 2022-11-10 2024-05-16 Thyssenkrupp Ag Falzroboter mit zentraler Falzkrafterfassung sowie Verfahren zum Betreiben und zum Modernisieren eines Falzroboters
WO2024100127A1 (fr) 2022-11-10 2024-05-16 thyssenkrupp Automotive Body Solutions GmbH Robot de pliage avec détection de force de pliage centrale et procédé de fonctionnement et de modernisation d'un robot de pliage

Also Published As

Publication number Publication date
CN103358177A (zh) 2013-10-23
DE202012101187U1 (de) 2013-07-09
EP2834024B1 (fr) 2020-12-30
CN103358177B (zh) 2016-08-03
EP2834024A1 (fr) 2015-02-11

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