WO2016005322A1

WO2016005322A1 - Application tool and application method

Info

Publication number: WO2016005322A1
Application number: PCT/EP2015/065349
Authority: WO
Inventors: Stefan Bayer; Michael Mayer; Holger Friedel
Original assignee: Kuka Systems Gmbh
Priority date: 2014-07-08
Filing date: 2015-07-06
Publication date: 2016-01-14
Also published as: DE202014103132U1

Abstract

The invention relates to an application tool (2) and an application method for a flexible workpiece (4); the application tool (2) is designed as a combined tool for accommodating the flat flexible workpiece (4) and three-dimensionally shaping same on an external shaping tool (5) and is provided with a shapeable head (11) that can be deformed in a controlled manner, rigidified and reconfigured. The shapeable head (11) comprises a supporting element (19) having a shapeable member (12) which is disposed on the supporting element (19), can be deformed in a controlled manner and be rigidified, and is designed like a mat, is bendable and optionally non-extensible or low-extensible.

Description

DESCRIPTION

Application tool and application method

The invention relates to an application tool and an application method with the features in the preamble de method and device main claim.

In practice, it is known on a manual basis, the recording and near-net shape reshaping of flexible

Fiber composite bodies, so-called preforms or prepregs to make. In addition, several tools or process steps are necessary for this purpose. This is for one

Automation and a mass production unfavorable.

It is therefore an object of the present invention to provide an improved application technique for flexible workpieces.

The invention solves this problem with the features in the method and device main claim.

The claimed application technique, i. the

Application tool and the application method have functional and economic advantages. They enable industrial realization and automation for picking up and near-net shape reshaping of such flexible workpieces. These may be piece-like flexible workpieces, e.g. flat textiles, especially in the

Fiber composite area, preferably fiber composite body.

In particular, these processes can be automated and performed using an industrial robot.

The claimed application technique is particularly suitable for fiber composite bodies, which are designed, for example, as so-called preforms or prepregs. The flexible workpieces, in particular fiber composite bodies, may have a mat-like shape. You can also use a sticky or adhesive Own surface.

The claimed application tool can be used as

Combination tool combine several functions and can be used both for the surface recording of a flexible

Workpiece from a 2D tray, as well as for the spatial and 3D forming can be used on an external forming tool. The picking and forming process is powerful and can be done quickly and safely. Furthermore, a high forming quality of the flexible workpiece can be achieved. Wrinkling, distortion or other adverse or faulty appearances on the formed workpiece can be avoided or at least significantly reduced.

The claimed application technique has particular economic advantages. Around

Component production from fiber composite materials is the

Automation and chaining of the individual components of the process chain make an important contribution to such

Fiber composite materials for mass production

to use cost-effective. The handling of the highly sensitive semi-finished products or flexible workpieces from the fiber composite material in the course of the process chain is a key component that can now be automated cost-effectively and efficiently thanks to the claimed application technology.

Through the training and function of

Application tool as a combination tool and the

Application process as a combination process, the

Process steps are simplified and accelerated. A repeated recording and Wiederabgeben the flexible workpiece can be omitted. In addition, the usual further intermediate steps in the recording and Forming process no longer required. By the

Integration of the recording and transformation of the flexible

Workpiece in an automated and robotergestüt zen process, the structure of the flexible workpiece, in particular the fiber composite body, not adversely affected. In addition, a very high quality of placement in terms of position accuracy, low distortion,

Ensuring structural integrity, etc. achieved. In addition, the overall process is accelerated by integration. The fiber composite material is treated more gently than in the prior art.

The application tool can be designed in different ways. In the preferred embodiment, it has a controllably deformable as well

hardenable and reconfigurable forming head on. This can accommodate the flexible workpiece surface and spatially on an external forming tool

reshape. Due to its controllable deformability, the forming head can also deform when pressing the flexible workpiece to the external forming tool. At the end of this forming process, the forming head can solidify in the assumed shape. He can as

Pressing act and for a within the

Shaping contour preferably full surface contact pressure of the flexible workpiece serve to the forming tool. This can be a particularly high forming or

Mold quality of the flexible workpiece can be achieved. The flexible workpiece and the forming head can be optimally adapted to the forming tool and map or shape its contour in a counter-mold.

If necessary, the forming process can take place in several stages. The same application tool can be used. The flexible workpiece can be on

Application tool remain and does not have to be delivered between the forming stages and resumed. The application tool can change in the same way as the flexible workpiece to the stepwise

Adjust the contour specifications of the forming tools. The forming head may be controlled so that it deforms together with the flexible workpiece during forming on an external forming tool and

then solidified in the deformed position. Of the

Forming head can also be controlled so that it deforms after delivery of the deformed flexible workpiece in a defined initial shape and thereby

reconfigured. He can thereby create a new flexible

Grasp workpiece flatly. The flexible workpiece is detected over its entire surface in the flat recording on its entire relevant surface and held by means of a holding means on the application tool. The full-surface recording can also be achieved by a dense grid of receiving points on the application tool, so that a virtually full-surface recording is realized. The recording takes place at least

those workpiece areas that are affected by the subsequent spatial transformation and change their position. Due to the two-dimensional recording an exact reshaping of the forming tool is possible. The shaping tool has a corresponding molding for this purpose. This can be designed as a stamp or so-called male or recess or so-called die. For the constructive and functional design of the

Application tool and its forming head, there are various options. In the preferred embodiment, the forming head has a supporting body with a forming member arranged therein that can be controlled

deformable and solidifiable. The

Forming member is preferably flexurally elastic and in

Essentially designed stretch-resistant. It can be a mat shape have and be designed as Umformmatte. In the

preferred embodiment, it is designed as a vacuum mattress with a vacuum device. The forming member has on its side facing the flexible workpiece receiving side on a deformation behavior, which in the deformation behavior of the flexible

Workpiece is adjusted. In particular, that show

Forming member and the flexible workpiece an equal or at least comparable Umformverhalten.

This is a scherfähige surface on the

Receiving side of advantage, the surfaces of

Forming member and flexible workpiece have the same or at least comparable shear behavior. The

Shearable surface may e.g. by a

one-dimensional or multi-dimensional

Stabilization structure are formed, which preferably also a stabilizing structure of the flexible

Workpiece, in particular of the fiber composite body,

equivalent. A stabilizing structure may e.g. be formed as a lattice structure or unidirectional structure (UD structure). The support body for the forming member, in particular the vacuum mattress, in turn, deformation and

be solidifiable. He can do this one

annular support frame having an inner chamber, wherein the support frame may be formed in a similar manner as the forming member, and also of one or more vacuum mattresses with a

Vacuum device can be formed. The inner chamber of the support body may be hermetically sealed, and may be via a controllable fluid supply with a variable chamber pressure, in particular air pressure,

be charged. A pressure reduction is for the deformation of the forming member of the forming tool of Advantage. For the reconfiguration and re-deformation of the forming member, the chamber pressure is increased again.

Guiding means, in particular guide pins, ensure precise guidance and reproducible positioning of the

Forming member on the application tool. This is also advantageous for the programmed delivery by the industrial robot. The industrial robot is advantageously designed as a tactile robot and can be based on the

Strain absorbing sensors the delivery and

Optimally perform the pressing process during the forming process.

If required, a human-robot collaboration (MRK) can also be carried out. The invention also relates to an application device which comprises at least the claimed application tool. Furthermore, the application device may include one or more shaping tools and possibly the multiaxial industrial robot. At the forming tool can be secured by means of an optionally present, flexible counter-holder, the system of the flexible workpiece on the application tool in the delivery and during the forming process. The counter-holder, in particular a membrane, can by appropriate adhesion after the

Forming process the detachment of the continue from

Allow application tool held deformed workpiece. On the other hand, the deformed workpiece can also be returned to the mold, in particular the

Shaped body, are delivered by the application tool. The molding then has a correspondingly high adhesion.

The counterholder with the reduced adhesion can also be compared with the

Deform and move shaped bodies. Due to the flexible counterholder, in particular the membrane and the reduced adhesion, the quality of the forming process is increased. The danger of a temporary caking or otherwise sticking of the flexible workpiece during the forming process and the resulting distortion of the workpiece can be avoided or at least significantly reduced.

In the subclaims are further advantageous

Embodiment of the invention specified.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

Figure 1: an application device with a

Application tool, an industrial robot and a forming tool in the recording and delivery of a fiber composite body, Figure 2 and 3: the application device of Figure 1 in different positions during the forming of the fiber composite body,

Figure 4: the application device of Figure 1 to 3 after the forming process with open

Shaping tool,

Figure 5: a variant of the forming tool with a

Lid,

Figures 6 and 7: perspective views of

Application tool from different angles and Figure 8: a side view of the application tool of

FIGS. 6 and 7.

The invention relates to an application tool (2) and an application method. The invention further relates to an application device (1) with such

Application tool (2).

The application tool (2) has its own

inventive meaning. It can be used in exchange for purely manual forming technology and together with an existing forming tool (5). It can also be operated manually and be movably supported for relief on a support structure with load balancing. The application tool (2) can also be part of a preferably automatic application device (1). This can be an external component as a further component

Shaping tool (5) include. This can be in

Any number may be present. For a multi-stage forming process, two or more forming tools (5) are provided.

The application device (1) may have one or more further components, in particular a multi-axis

Industrial robots (3) include. This is not necessary. An industrial robot (3) can also be provided by an operator of the application device (1). Alternatively, another handling device is possible.

The application tool (2) is shown in FIGS

Embodiments of a multi-axis

Industrial robot (3) held and managed. On the

Industrial robot (3) can also supply with

Resources, e.g. Signal and power currents,

Compressed air, etc. and a control of the tool functions done. The industrial robot (3) has a plurality of robot arms (7) and an output member (8) which is e.g. when

Rotary flange is formed. For the sake of clarity, only the last output-side robot arm (7) is shown in FIGS. 1 to 4.

The industrial robot (3) can have any number and combination of rotary and / or translatory robot axes. Preferably, it is as

Articulated robot or articulated robot designed. It can be stationary or unsteady and has preferably five, six or more driven

Robot axes, possibly also one or more additional axes.

The industrial robot (3) has a robot controller (not shown), via which also the

Application tool (2) can be controlled. The industrial robot (3) pursues the handling and

Forming process a programmed path. It can be position-controlled with its robot axes and approach predetermined path points or move along a programmed path.

In the embodiments shown is the

Industrial robot (3) designed as a tactile robot having an associated sensor (not shown), which detects externally acting mechanical loads and communicates with the robot controller. In this case, forces and / or moments can be detected. The sensor is preferably integrated in the robot arms (7). Here, e.g. at the powered robot axes and

especially at their bearings force or

Be arranged moment sensors and displacement sensors. In another embodiment, a sensor between the driven member (8) and the application tool (2)

be arranged.

The tactile industrial robot (3), one or more force-controlled or force-controlled robot axes and possibly a compliance control have, for example, can be formed as a pure power control or a combination of position and force control ^¬. In addition, the robot axes may have a controllable or switchable brake. Such a tactile robot (3) can be used for a human-robot collaboration (MRK). It may be formed, for example, according to DE 10 2007 063 099 A1, DE 10 2007 014 023 A1 or DE 10 2007 028 758 B4. According to FIGS. 1 to 4, the application tool (2) serves to receive a flexible workpiece (4) in a planar manner and to spatially reshape the picked-up workpiece (4) on an external and preferably stationary forming tool (5). The workpiece (4) is doing to a

Shaped mold body (5) of the forming tool (5) and integrally formed on the spatial contour. The

Application device (1) has the same purpose or the same function.

The flexible workpiece (4) can be of any type, size and design. It preferably has a finite, piece-like mat shape according to FIG. 1 and is provided on a table-like support (16) in an extended, flat position. The flexible workpiece (4) is

flexurally elastic and possibly stretch-resistant or low-stretch. It can be converted from its originally planar 2D shape into a spatial SD shape (18) according to FIG. This is e.g. the curved shape shown in the embodiments, in particular bell shape or shell shape. The forming can take place in one or more shaping steps.

The flexible workpiece (4) may consist of any materials. It can be single-layered or multi-layered. Preferably, it is flat textiles, especially in the fiber composite area. In the embodiments shown, the flexible workpiece (4) is formed as a fiber composite body, which consists of a

synthetic base material, e.g. a synthetic resin, and a mechanical stabilizing structure, e.g. is formed by fibers.

The stabilization structure can be one-dimensional or multi-dimensional. It is preferably located on or in the deformation process affected and deformed

Workpiece surface. It can also be arranged in the interior of the flexible workpiece (4). A multidimensional stabilization structure may be formed, for example, as a woven fabric or as a lattice structure. The fibers are eg as glass fibers, carbon fibers,

KunstStofffasern or the like. executed. A fabric or

Lattice structure can be strands or filaments with a

have a crosswise or rhombic arrangement.

In another variant, the flexible workpiece (4) may comprise a unidirectional material (so-called UD material) or a UD structure. This one-dimensional

Stabilizing structure may e.g. are formed by stretched and mostly rectified stabilizing elements without cross-linking. The stabilizing elements are distributed over the workpiece surface and may be formed as embedded individual fibers or fiber bundles. Alternatively, local material thickening or the like. Possible. The stabilizing elements may be over the entire length or a partial length of

Workpiece surface extend.

In the deformation, preferably at the

Workpiece surface located stabilization structure, in particular tissue or lattice structure, are verscherten. In this case, the stabilizing elements, in particular fibers, strands or threads, can move relative to one another in the surface.

Furthermore, the flexible workpiece (4) may be a combination of different ones

Materials / structures act. The flexible workpiece (4) may in particular consist of different layers, each having different stabilizing structures or structural combinations. Also, only individual areas can be reinforced by another structure. The application tool (2) is shown in more detail in FIGS. 6 to 8. It is designed as a combination tool and is used both for two-dimensional recording of the flexible workpiece (4), as well as for the spatial deformation of the recorded workpiece (4) in one or more forming stages on an external forming tool (5).

The application tool (2) has a forming head (11) which can be deformed in a controllable manner and

is solidifiable. It can also be reconfigured and returned from a deformed and consolidated position to a defined starting position. In this e.g. Stretched starting position, he can record according to Figure 1, the flexible workpiece (4) area.

The application tool (2) may further comprise a frame (9) on which the forming head (11) is arranged and supported. The application tool (2), in particular the frame (9) can have a connection (10) for the

Industrial robot (3) have. Here you can

Output member (8) are connected directly or with the interposition of an automatic tool changer and / or a sensor. The application tool (2), in particular the forming head (11), has a receiving side (14), facing the workpiece (4), which is e.g. has a planar shape in the defined starting position. During the forming process this deforms

Application tool (2) or the forming head (11) on the receiving side (14) and takes a deviating from the planar shape spatial shape or contour, e.g. a

Shell shape, a. This can be a positive or convex or negative or concave shape or contour. The deformed contour can be stepped or rounded. It can involve a single or multiple deformation. The flexible workpiece (4) is received flat. The recording is preferably carried out on the entire

Surface or at least on the later transformed

Surface area. The flexible workpiece (4) is releasably held on the receiving side (14) by a holding means (17). The holding means (17) will be explained in more detail below. It may be, for example, a releasable adhesive or adhesive connection with a specific and limited adhesive ^¬ or adhesive force.

The forming head (11) is controlled so that it deforms together with the recorded flexible workpiece (4) when it rests against an external forming tool (5), in particular on its shaped body (27), and then in the deformed position or contour

solidified. By solidification, pressure forces can be transmitted to the deformed workpiece (4) and distributed over the entire deformation range. Of the

Forming head (11) can also be controlled so that it deforms back after delivery of the flexible workpiece (4) in the aforementioned defined initial shape and reconfigured.

For the structural design of the application tool (2) and the forming head (11) there are various

Options. In the embodiment shown in the drawings, the forming head (11) has a

Support body (19) having arranged thereon a forming member (12), the controllable deformable and

is solidifiable. The forming member (12) is

preferably formed mat-like. It is

flexurally elastic and preferably designed to be stretch-resistant or low-stretch. in the variants shown, the forming member (12) as a vacuum mattress with a vacuum device (13)

designed. The vacuum mattress can be under outer deformation and can be strengthened and stiffened even in the deformed position. The

Vacuum mattress has for this purpose a gas-tight and flexurally elastic and stretch-resistant shell, which is connected to the support body (19). In the shell is a filling of a granulate whose e.g. out

Plastic existing particles are pressure-resistant. The

Vacuum mattress also has a vacuum connection for connection to the preferably on the frame (9) arranged vacuum device (13).

Via the vacuum device (13) gas, in particular air can be sucked out of the shell, whereby the

Granulate filling is compressed and solidified in the assumed and deformed position. Your compressed particles are by mutual positive engagement and / or

Friction locked in place. The solidified

Vacuum mattress thereby forms a rigid shell, the forces introduced via the support body (19) on the

recorded workpiece (4) can transmit. When the negative pressure is released by opening the vacuum connection or actively blowing in gas, in particular air, the stiffening and solidification is canceled and the

Vacuum mattress again flexibilized and made malleable.

The aforementioned receiving side (14) is arranged in the embodiments shown on the forming member (12). It is e.g. from the flexible workpiece (4) facing

Cover wall of the vacuum mattress formed. The receiving side (14) has a deformation behavior, which corresponds to the deformation behavior of the flexible workpiece (4).

is adapted and preferably corresponds to this. For this purpose, the receiving side (14) of the forming member (12) have a shearable surface of the type described above. As FIGS. 6 to 8 make clear, the receiving side (14) has, for example, a grid structure (15). Also conceivable are other geometric stabilization structures, eg an unstructured material or UD material.

The mutually facing and contacting surfaces of the flexible workpiece (4) and the forming head (11), in particular forming member (12), preferably have the same or at least comparable shear behavior.

The illustrated lattice structure (15) of the forming member (12) may be the fabric or lattice structure of the flexible one

Workpiece (4) correspond. Here About the deformation ^¬ and shear behavior can be adapted to each other. Both lattice structures are formed, for example, by threads or strands that intersect at right angles in the undeformed state. In a spatial deformation and in particular a curvature of the lattice structure, the strands can move in the surface relative to each other or move. You can eg to a

change rhomboid-like arrangement. The base material of the flexible workpiece (4), in particular

Fiber composite body, follows this movement. In the application tool (2), the grid structure (15) of the forming member (12) between flexible films

be embedded. You can do a similar

Layer structure as the fiber composite body have. The thus laminated lattice structure (15) can also form a support on the receiving side (14) and the relevant wall of the forming member (12). This wall, in particular sheath wall, can also easily deform under external influence and has a flexible workpiece (4) corresponding

Deformation behavior. Through these adjustments in the

Deformation behavior, wrinkling, distortion or other disturbances on the workpiece (4) in a forming process avoided.

The aforementioned and preferably flat holding means (17) serves to hold the optionally suspended workpiece (4) in the receiving position on the forming member (12). The holding means (17) can be formed by the aforementioned adhesive or adhesive connection, the so-called tack. The fiber composite adheres e.g. with its sticky surface of the base material at the

Recording page (14), especially at the embedded

Grid structure (15). The connection is preferably over the entire workpiece surface, wherein the

Receiving side (14) circumferentially may have an excess. The adhesive or adhesive bond can be solved when a counter force is applied to the other side of the workpiece, which is greater than the holding force of the holding means (17). The holding means (17) preferably has a defined and limited holding force, in particular adhesive or adhesive force.

In another variant, the holding means (17) may be controllable, wherein the holding force is changed. During transport and possibly also during the deformation of the flexible workpiece (4), the holding force

be switched on and a constant or possibly

have variable size. To deliver the flexible

Workpiece (4) or for other purposes, the holding force can be turned off. This can e.g. based on adhesion due to electrostatic or other physical effects. By applying a voltage to the holding means (17) whose holding power can be changed, in particular, if necessary, on and off. Corresponding effects can e.g. by a variable temperature of the holding means (17) and a concomitant change in the

Achieve adhesive force. Furthermore, the controllable holding means (17) are formed by a suction device. In

Further modification, the holding means (17) may also be formed by a clamping, tensioning device and / or another mechanical holding mechanism or the like.

Also, the flexible workpiece (4) may have a tack (tack). This may correspond to the tack of the holding means (17) or deviate from this. The tack of the flexible workpiece (4) may be predetermined, e.g. through material properties. It can also be adjustable and possibly changeable. The tack may depend on several factors, e.g. from the temperature. The tack can thus be e.g. be set by controlling the ambient temperature and possibly also changed as needed.

Heat energy can the flexible workpiece (4) on the forming head (11) to be added or removed. This can e.g. conductively via the contact point on the receiving side (14) or via the holding means (17). In this case, both täcks of workpiece (4) and holding means (17) can be controlled by the corresponding temperatures and

be adjusted as needed and changed. It is also conceivable that the forming head (11) does not have its own tack, but only the flexible workpiece (4). The holding means (17) may then be a temperature changing means, which e.g. conductively adjoin the workpiece (4) its temperature and according to its stickiness by heating and / or cooling and possibly

can change.

Furthermore, the forming head (11) can have a predetermined and constant tack, wherein the holding means (17) nevertheless has temperature-changing means, by means of which only the tack of the flexible workpiece (4) is set and optionally changed. Alternatively or additionally, a conductive heat also from the environment, for example by hot gas, a

Radiator or the like. possible. Furthermore, heating of the flexible workpiece (4) is inductive or other

Way possible, e.g. by electromagnetic

Alternating fields, by irradiation or the like ..

According to FIGS. 6 to 8, the support body (19) has an annular support frame (20) which surrounds an inner chamber (22). The support frame (20) is on one side with the forming member (12), in particular with the

Vacuum mattress, and on the other side with a

Support plate of the frame (9) connected. The compounds can be gas-tight. The chamber (22) may be formed as a fluid chamber and connected to a controllable fluid supply (25). By means of the fluid supply (25), a fluid, in particular a gas, preferably air, in the

Fluid chamber (22) are fed and on the other hand sucked out of the chamber (22). The variable by means of the controllable fluid supply (25) chamber pressure acts on the back of the forming member (12). At overpressure, e.g. the forming member (12) and the forming head (11)

streamlined, placed in the defined starting position or shape according to Figure 1 and reconfigured. Under reduced pressure, the forming member (12) can deform under external action during the forming process and move into the fluid chamber (22). The support body (19), in particular its support frame (20) can follow this movement during deformation as needed. The support frame (20) can for this purpose also have controllable deformable and solidifiable and reconfigurable frame walls (21). These may e.g. as inflatable tubes and in particular as a vacuum mattresses in the manner described above

Granulate filling and vacuum connection to be formed. The Frame walls (21) are preferably formed as straight side walls. In the case of a prismatic frame contour, flexible corner parts (23), for example stretchable films, can be arranged on the frame corners, which gas-tightly connect the side walls (21) over their corners and follow their deformation movements.

The forming member (12) is over one or more

Guiding means (24) connected to the frame (9). The guide means (24) are e.g. as guide pins

formed perpendicular to the main plane of the

Forming member (12) extend in the starting position and perpendicular to the support plate of the frame (9). Preferably, there is a central and straight row of guide pins (24). The guide pins (24) are on the frame (9) in a defined shape with predetermined degrees of freedom in one or more of the axes shown x, y, z

managed evasive. The guide means (24) ensure a reproducible and defined position of the forming member (12) during the deformation in the forming process. They can also be useful in the reconfigured starting position. In particular, a shearing or shifting parallel to the support plate of the frame (9) is prevented. This is also the necessary reference to the frame (9) and the

Industrial robots (3) in all process positions

produced. The application tool (2) thus has a defined Tool Center Point (TCP).

The design of the forming tool (5) and the various steps of the receiving and forming process are shown in Figures 1 to 4.

The forming tool (5) has a preferred

stationary arranged tool carrier (26) on which a shaped body (27) is arranged. The molded body (27) can be present several times. In the shown

Embodiments is the shaped body (27) as a stamp or Male forms and defines the positive mold for the desired deformation of the flexible workpiece (4), which then receives a corresponding negative mold (18).

The molded body (27) is sunk in a trough-like depression of the tool carrier (26). The

Deepening forms a chamber (30) surrounding the molded body (27), which is open on one side, in particular on the upper side. About this access opening, the application tool (2) with the recorded workpiece (4) can be supplied.

At the access opening is shown at the

Embodiments, a flexible counter-holder (28) for the delivered application tool (2) and the

accommodated and held workpieces (4) arranged. During delivery and during deformation, the counter support (28) supports the retaining means (17).

The counter-holder (28) can be omitted in another embodiment. The application tool (2) can then directly to the forming tool (5), in particular to the

Shaped body (27) are delivered.

The illustrated flexible counter-holder (28) is e.g. as a thin-walled and flexurally elastic plastic membrane, e.g. Silicone, formed. This is by means of a

Fixation (29) attached to the tool carrier (26). It spans in the initial position shown in Figure 1 and in the extended position, the access opening. The fixation (29) is e.g. designed as a fixing frame, the

Hold membrane (28) at the edge. The fixation (29) or the fixing frame may, if necessary, be opened in accordance with FIG. 4, for example pivoted. The counter-holder (28), in particular the membrane, has a lower adhesive or adhesion to the

flexible workpiece (4) as the application tool (2). The flexible workpiece (4) can thereby after the

Forming process again detached from the anvil (28) and lifted with the application tool (2).

On the other hand, the weak adhesive or adhesive force is also advantageous for the forming process. As Figure 1 illustrates, initially the flexible

Workpiece (4) with the dashed lines shown

Application tool (2) received by the support (16) in a flat position and the forming tool (5)

transported there and initially positioned above the access opening floating and aligned with respect to the molding (27). Subsequently, a feed movement of the application tool (2) by the industrial robot

(3), wherein the feed movement is preferably aligned straight and perpendicular to the shaping surface of the shaped body (27). This is the possibly existing

Counter holder or the membrane (28) contacted and taken along in accordance with Figure 2.

In the feed and feed movement that comes

Application tool (2) with the recorded workpiece

(4) in contact with the molding (27), wherein the forming member (12) and the workpiece (4) at the

adapt and shape shaping contours. FIG. 3 shows this position with the formed negative mold (18). The optional counterholder (28) or the thin-walled membrane is deformed accordingly and between the

Workpiece (4) and the shaped body (27) clamped. A tactile industrial robot (3) with its sensory abilities is advantageous in the delivery and deformation and can control the process based on the detected reaction forces or moments and correct as needed. The with the counter-holder (28) closed receiving opening in the tool carrier (26) forms a gas-tight fluid chamber (30) with a control device (32) for the

Fluid pressure in the chamber (30) is connected. In the

Delivery of the application tool (2) according to Figures 2 and 3, in the fluid chamber (30) a suitable back pressure by the trapped fluid, in particular air or another gas, are formed, which also the

Supporting means (17) supported and the workpiece (4) presses against the forming member (12). The back pressure can

be reduced according to the tool feed. If required, a negative pressure or suction pressure can also be applied, in particular in the end position of FIG. 3.

In the embodiments shown, after

Forming process according to Figure 3, the application tool (2) with the further recorded workpiece (4) again removed, in particular raised. Subsequently, the counter-holder (28) is removed from the access opening, in particular pivoted up. The application tool (2) which has then been reloaded can move the deformed workpiece (4) back to the shaped body (27), where it can be pressed once again and possibly dispensed.

The molded body (27) may have a larger adhesive or

Adhesive force to the workpiece (4) as the holding means (17) develop. In this way, during the withdrawal movement, the workpiece (4) can be released from the application tool (2) and remain on the shaped body (27). Alternatively, the application tool (2) the recorded and

deliver deformed workpiece (4) elsewhere. Figures 2 to 4 also illustrate the deformation and solidification behavior of the forming head (11) and the forming member (12). At the delivery and for the Forming process of the flexible workpiece (4) is the

Forming member (12) by appropriate control

made deformable. Upon contact with the shaped body (27), the workpiece (4) and the forming member (12) deform in a corresponding manner and adapt exactly to the relevant shape body contour. FIG. 4 shows the

Negative mold (18). The pressing forces during forming and compacting with the forming head (11) according to FIGS. 3 and 4 can be achieved by means of a corresponding pressure guide in the

Fluid chamber (22) are supported.

By appropriate control then the forming member (12) is solidified in the deformed position. It retains this solidified shape even when retreating

Application tool (2) and in a possibly renewed

Delivery after removing the counter-holder (28). This deformation and solidification behavior also takes place in the alternative embodiment without an anvil (28).

When transferring the workpiece (4) to the

Shaping tool (5) according to Figure 4, the solidified forming member (12) defined the workpiece (4) defined on the mold body (27) create and press and thereby possibly also deform a little further,

in particular compact and bring in the final form.

After delivery of the workpiece (4), the forming head (11) or the forming member (12) can be reconfigured in the manner described above and brought to the starting position according to FIG. 1 for the next picking and forming cycle.

In the embodiments shown, the forming process is single-stage. In a variant, not shown, it may be multi-level, wherein the forming head (11) with the

Received workpiece (4) successively different shaping tools (5) is fed and there Various deformation steps are performed. The forming head (11) or its forming member (12) can be switched in each case in a suitable manner deformation soft in the various deformations and then solidified again.

Figure 5 also shows a possibly further process step after the deformation of the workpiece (4) and forming head (11) or forming member (12) according to FIG 3. After removal of the application tool (2) can further compacting and also a solidification of the molded body (27) remaining workpiece (4) by otherwise pressing pressure. For this purpose, e.g. in the area of the fluid chamber (30)

below the deformed workpiece (4) resting on the membrane (28) a vacuum are generated which the

Press membrane (28) against the dispensed workpiece (4). In addition, the forming tool (5) a movable closure (31), in particular a pivotable lid for the chamber (30) and for the access opening in

Have tool carrier (26). The shutter (31) can also be moved under control. Between the closure or lid (31) in the closed position and the

Counter holder or the membrane (28), a further sealed chamber portion (33) is formed. Here, if necessary, a fluid, in particular air or another gas can be fed with pressure in order to support the aforementioned suction in the chamber area under the membrane (28).

In another and also not shown

Variant may be a compact tion of the deformed workpiece (4) by a separately supplied pressure stamp

respectively . Modifications of the shown and described

Embodiments are possible in various ways. In particular, the features of the above-described embodiments and their variants can be arbitrary

be combined with each other and in particular be reversed.

The forming head (11) may be structurally designed in another way. He can e.g. a dense and

uniform matrix of axially movable pins

have, which dodge at axial delivery corresponding to the shaping contour of the shaped body (27) and temporarily fixed in their respective position in a suitable manner, in particular clamped or magnetically fixed. The evasive movement may be due to friction or otherwise to produce an adapted

Deformation behavior can be influenced. By means of a Ausschubplatte the starting position can be reconfigured, in the e.g. all free pen ends lie in a common plane.

The shaping tool (5) can also be modified in which, for example, the shaped body (27) has a concave shape instead of the convex shape shown and is formed as a depression or matrix in the chamber bottom. Deformation of the flexible workpiece (4) and the deformable connected forming member (12) can then be effected for example via the support body (19), for example by a significantly increased internal pressure in the fluid chamber (22). LIST OF REFERENCE NUMBERS

1 application device

2 application tool

3 industrial robots

4 workpiece, fiber composite mat, preform

5 forming tool, mold, preforming tool

6 provision, filing

7 robotic arm

8 output member

9 frame

10 connection

11 forming head

12 forming element, forming mat, vacuum mattress 13 Vacuum device

14 recording side, surface

15 grid structure

16 edition

17 holding means, tack

18 negative form

19 supporting body

20 support frame

21 frame wall, side wall

22 fluid chamber

23 corner part

24 guide means, guide pin

25 fluid supply

26 tool carrier

27 moldings, stamps, positive mold

28 counterholder, membrane

29 Fixation, fixing frame

30 chamber, fluid chamber

31 closure, lid

32 control device for fluid pressure

33 chamber area

Claims

PATENT CLAIMS Application tool for a flexible workpiece (4), in particular a fiber composite body, wherein the application tool (2) is designed as a combination tool for surface receiving the flexible workpiece (4) and for spatially forming the received workpiece (4) on an external forming tool (5) and one controllable

deformable and solidifiable and reconfigurable forming head (11) having a support body (19) arranged thereon with a controllable deformable and

having solidifying forming member (12) and wherein the forming member (12) mat-like,

flexurally elastic and, if necessary, stretch-resistant or stretch-poor.

An application tool according to claim 1, characterized in that the forming head (11) is controlled so that it deforms together with the flexible workpiece (4) during forming on an external forming tool (5) and then solidified in the deformed position.

Application tool according to claim 1 or 2, characterized in that the forming head (11) is controlled in such a way that after the flexible workpiece (4) has been dispensed, it is deformed back into a defined initial shape and reconfigured. The application tool according to claim 1, 2 or 3, characterized in that the

Forming head (11) has a connection (10) for a

Industrial robot (3). Application tool according to one of the preceding claims, characterized in that the forming member (12) is designed as a vacuum mattress with a vacuum device (13).

An application tool according to one of the preceding claims, characterized in that the vacuum mattress is a gas-tight, flexurally elastic and, if applicable, stretch-resistant or low-expansion casing with a pressure-resistant granulate filling and with a

Having vacuum connection.

An application tool according to any one of the preceding claims, characterized in that it faces the flexible workpiece (4)

Receiving side (14) of the forming member (12) a

Has deformation behavior, which to the

Deformation behavior of the flexible workpiece (4) is adjusted.

Receiving side (14) of the forming member (12) has a shearing surface.

Application tool according to one of the preceding claims, characterized in that the shearing ability of the surface on the

Receiving side (14) and the ability to shear the facing surface on the flexible workpiece (4) correspond to each other. An application tool according to any one of the preceding claims, characterized in that it faces the flexible workpiece (4)

Receiving side (14) of the forming member (12) a Lattice structure (15).

11.) Application tool according to one of the preceding

Claims, characterized in that the grid structure (15) of the forming member (12) of the

Lattice structure of the flexible workpiece (4)

corresponds.

12.) Application tool according to one of the preceding claims, characterized in that the grid structure (15) of the forming member (12) embedded between flexible films and as

Support (16) on the receiving side (14) is formed.

13.) Application tool according to one of the preceding

Claims, characterized in that the forming head (11) on the receiving side (14) has a preferably flat holding means (17) for the

flexible workpiece (4).

14.) Application tool according to one of the preceding

Claims, characterized in that the holding means (17) for controlling the holding force is controllable.

15.) Application tool according to one of the preceding

Claims, characterized in that the holding means (17) is designed as a detachable and optionally controllable adhesive or adhesive bond.

16.) Application tool according to one of the preceding

Claims, characterized in that the application tool (2) has a frame (9) for the forming head (11).

17.) Application tool according to one of the preceding

Claims, characterized in that the support body (19) has an annular support frame (20) which surrounds an internal chamber (22) and is connected to the forming member (12).

18.) Application tool according to one of the preceding

Claims, characterized in that the support frame (20) controllable deformable as well as solidifiable and reconfigurable

Has frame walls (21).

An application tool according to one of the preceding claims, characterized in that the frame walls (21) are designed as vacuum mattresses with a vacuum device.

20.) Application tool according to one of the preceding

Claims, characterized in that the chamber (22) is formed as a sealed fluid chamber with variable chamber pressure and connected to a controllable fluid supply (25).

21.) Application tool according to one of the preceding claims, characterized in that the forming member (12) via guide means (24), in particular guide pins, with the frame (9) is connected. 22.) Application device for spatial forming

a flexible workpiece (4), in particular a fiber composite body, wherein the

Application device (1) an application tool (2), characterized in that the application tool (2) according to at least one of claims 1 to 21 is formed.

23). Application device according to claim 22, characterized in that the

Application device (1) has a shaping tool (5) with a shaped body (27), in particular a punch, for forming the flexible workpiece (4).

24.) Application device according to claim 22 or 23, characterized in that it e e n e c e s that the

Application device (1) several

Shaping tools (5) for preforming and final shaping of the flexible workpiece (4).

25). Application device according to claim 22, 23 or 24, characterized in that the application device (1) has a multiaxial

Industrial robot (3) for holding and guiding the application tool (2). 26.) Application device according to one of claims 22 to 25, characterized in that the industrial robot (3) is designed as a tactile robot with an associated sensor system, which acting external mechanical loads

detected.

27.) Application device according to one of claims 22 to 26, characterized in that the molded body (27) in a chamber (30) of the

Shaping tool (5) is arranged, at whose

Access opening a flexible counter-holder (28), in particular a membrane, for the delivered

Application tool (2) is arranged. 28.) Application device according to one of claims 22 to 27, characterized in that the counter-holder (28), in particular the membrane, a has lower adhesion to the flexible workpiece (4) than the application tool (2). 29.) Application device according to one of claims 22 to 28, characterized in that the shaped body (27) has a higher adhesion to the flexible workpiece (4) than that

Application tool (2).

30.) Application device according to one of claims 22 to 29, characterized in that the shaping tool (5) has a control device (32) for the fluid pressure in the chamber (30).

31). Application device according to one of claims 22 to 30, characterized in that the shaping tool (5) has a movable

Closure (31), in particular a pivotable lid, for the chamber (30).

32.) Application method for a flexible workpiece (4), in particular a fiber composite body, wherein the flexible workpiece (4) with a as

Kombiwerkzeug formed application tool (2) and recorded on an external surface

Forming tool (5) is reshaped, wherein the forming head (11) a support body (19) arranged with a controllable

deformable and solidifiable

Forming member (12) and the forming member (12) mat-like, bending elastic and possibly stretch-resistant or low-expansion is formed. 33.) Method according to claim 32, characterized

characterized in that the forming head (11) is controlled so that it is common deformed with the flexible workpiece (4) during forming on an external forming tool (5) and then solidified in the deformed position. 34.) Method according to claim 32 or 33, characterized

The forming head (11) is controlled in such a way that after the flexible workpiece (4) has been dispensed it deforms back into a defined initial shape and reconfigures it.

35.) The method of claim 32, 33 or 35, characterized

In other words, the workpiece (4) is held on the receiving side (14) of the forming head (11) with a holding means (17) which is preferably planar and controlled in the holding force.