EP2283945B1 - Folding device - Google Patents

Description

The invention relates to a folding device with the features in the preamble of claim 1.

It is an object of the present invention to provide an improved Rollenfalztechnik.

The invention solves this problem with the features in claim 1.

The folding device according to the invention has the advantage that it can be used for a wide variety of folding and flanging operations. According to the invention, the folding device has a folding tool with at least one driven folding roller and at least one freely rotatable counter roller.

During a folding operation, the edge of a component or workpiece to be machined can be retracted by the rotational movement of the driven folding roller into the region between the folding roller and the counter roller. This advantageously leads to a continuous and controlled executable folding processing. Even at those points of the workpiece where large expansions of the fold edge must occur during processing or are difficult to access, a high production quality is guaranteed.

The processing of a folding or beading can be done in one or more stages. For this purpose, the folding tool may preferably have several pairs of driven folding rollers and adjustable in their position counter-rollers. Thus, several consecutive folding operations can be performed with the same tool without a change becomes necessary, which advantageously leads to very low cycle times while maintaining a great versatility of the folding device. Out WO 03/024641 a folding device is known which has several pairs of freely rotatable folding rollers and counter-rollers. With the folding device according to the invention also different workpieces to be machined with different folding and / or flare geometry can be edited in any order with the same tool.

In the automotive industry, for example, it is customary to produce vehicles in different production variants on the same line, whereby, for example, some variants have a closed roof shape and others have a sunroof or a large-surface folding roof. The associated roof sheets are previously prefabricated in separate sub-processes, provided by different folding devices with the respective folding or flanged edges and fed to the main line.

With the folding device according to the invention, it is possible to fold such roof sheets of different variants directly on the main line. The folds and crimps can be done before or after installation of the roof panel in the body. The roof panels can be provided on the outside with a circumferential fold in only one folding device on the outside and be connected in the region of an inside punched out for sunroof or folding roof by crimping with a corresponding support frame. With the folding device according to the invention, a plurality of different folds and / or flanges can be produced on different workpiece shapes with the same folding tool. This leads to significant cost savings for the manufacturing plant and a flexible integration of changing folding processes in the production process. The variant flexibility can thus be increased while reducing costs.

The folding tool of the folding device according to the invention has one or more controllable or controllable electric motors for driving the folding rollers. The folding device may further comprise a detection device for folding parameters, which detects, for example, the drive energy of the folding rollers in particular via the motor currents in the drives. As a result, deviations caused by material and / or manufacturing inaccuracies, for example, can be detected during folding processing and possibly compensated for in a regulative manner, which contributes to an improvement in process control and a consistently high production quality. Also for quality assurance and for other purposes, the parameter acquisition is advantageous.

The detection device can also be used as a sensor to absorb reaction forces and / or reaction moments in the region of the seaming tool, e.g. be formed of the tool engagement.

A particularly preferred embodiment of the folding device includes a folding tool with a conical folding roller and a cylindrical folding roller, each of which is assigned at least one cylindrical counter-roller. The counter-rollers are freely rotatable in their axis, but arranged adjustable in their position about one or more rotational and / or translatory axes. In this case, for example, the position and / or the orientation of the counter-roller can be adjusted. The counter-rollers can be mounted on an adjustable roller carrier. By adjusting the counter-rollers, the angle between the axes of the driven folding roller and the respective counter-roller can be adjusted. As a result, multiple folding steps can be performed successively with a pair of rollers, wherein the folded edge is folded to successively smaller Falzöffnungswinkel.

For example, in a first step, a straight folding edge can be folded from a fold opening angle of 180 ° to about 135 ° and in a further step from 135 ° to about 90 ° with a cylindrical seaming roller and a cylindrical counter roller. The adjustment of the counter-roller can advantageously also take place during the tool engagement. Thus, for example, a circumferential fold edge can take place in two successive fold stages without discontinuation of the seaming tool. This leads to a shortening of cycle times and to avoid manufacturing inaccuracies by re-starting the seaming tool. However, the adjustment of the counter and / or folding rollers can also be done in a rest position after discontinuation of the tool from the workpiece.

Also, the roller carrier can be movably mounted and preferably displaceable on the tool head. This makes it possible, for example, to selectively influence the spacing of the counter roller from the driven seaming roller, whereby the seaming tool can be adapted in a simple manner to different workpiece thicknesses or folding angles to be machined.

Likewise, the driven folding rollers can be movably mounted on the respective drive axle. By means of an adjusting device, the folding rollers can be selectively positioned and delivered. At the beginning of a folding cycle, for example, the folding tool can first be applied with a counter-roller to the fold edge to be processed and then the area to be processed of the seaming edge be folded by a delivery of the driven folding roller. As a result, undesired deformation of the material regions lying next to the fold edge can advantageously be minimized or be avoided altogether.

Furthermore, the folding tool can have one or more additional counter-rollers. These can, for example, be brought into such a position on the seam edge to be processed that the deformed part of the seam edge is supported in a defined manner at the back by a second counter roller. At the same time, the region of the seaming edge which is intended to stand upright can be clamped between the first and second counter-rollers, thereby avoiding undesired deformation of this clamped-in area. This can advantageously account for stationary arranged and adapted to a specific folding geometry clamping devices.

For example, a flange edge of a first component to be machined and a supporting edge of a further component lying behind it, such as a support frame, can be locally fixed and clamped together for the tool engagement between the first and second counter rollers. As a result, can be dispensed with stationary clamping devices in many cases, which leads to simplifications in the workpiece handling and to a shortening of set-up times.

The folding device may have one or more adjusting devices for the adjustment of the folding rollers and / or the counter-rollers. The adjusting devices may have their own drives or be actuated via an external device. The folding tool may further comprise one or more devices for mechanically locking the relative position of folding rollers and counter-rollers. The locking devices can advantageously part of the adjusting devices and with these on the base support or on the tool head of the Folding tool be arranged. However, the locking devices can also be part of a roller carrier.

In a particularly preferred embodiment of the folding device, the folding tool has a modular construction of a base support and a tool head formed as an exchangeable head module. The base support can in this case have one or more connections for media and / or energy supply for the tool head and be connected to this modular.

Such a folding tool can have several optimized for the particular purpose head modules that can be changed as needed. Due to the modular structure, the drives for the folding rollers and / or the adjusting devices can be arranged as required in the base carrier or tool head. In a preferred embodiment, for example, a powerful and comparatively large electric motor can be arranged as a drive for the folding rollers in the base carrier, which is connected via a shaft-hub connection with the head module and there, for example via a transmission with one or more folding rollers. Two more comparatively low-power drives can be arranged, for example, to confirm the adjusting devices for the displacement of the folding rollers and for the adjustment of the counter-rollers as a hydraulic cylinder in the head module.

Due to the modular design of the folding tool this is quickly adaptable to a variety of folding operations and can be extended in its scope of functions. The folding device can have one or more magazines for providing and optionally for automatically changing head modules. This advantageously achieves that with the folding device according to the invention several different component variants without manual intervention in any and variable order can be edited.

The shell shape of the folding rollers may be different, in particular cylindrical, conical or spherical. The seaming rollers can have areas set off in the lateral surface for the purpose of forming special fold cross sections or for reshaping folded edges.

In a further preferred embodiment, the folding tool may comprise a pairing of a conical folding roller and an associated conical counter-roller, wherein between the folding roller and the counter-roller, a gap is formed. A folding edge of a workpiece to be processed can be drawn into this gap during folding and folded over in an defined manner around an edge of the folding roller or counter-roller. The gap may in this case be designed such that, during folding, a tensile force directed away from the substrate or from the inside of the workpiece is exerted on the seam edge. Due to the tensile force, the material stresses in the region of the folded edge can be influenced and buckling or buckling of the material areas located next to the folded edge of the workpiece can be avoided. This can advantageously be dispensed with clamping devices and in particular on a folding bed. Since folding beds are usually adapted and optimized for a specific three-dimensional spatial form of the component to be manufactured, their production is cost-intensive. The omission of such folding beds represents a major economic advantage of the folding device according to the invention.

The folding device can have a carrying device for one or more folding tools. Such a support device may be formed as a stationary frame to which a folding tool is firmly connected, wherein the support means and the seaming tool together a Make processing station. Relative to this processing station, a workpiece may be guided, for example, by an industrial robot.

Alternatively, the support device for the folding tool itself may be a multi-axis manipulator such as an industrial robot. In this case, the folding tool can be moved by the manipulator relative to an example, stationary stationary workpiece.

The arrangement of the folding tool on a manipulator has the advantage that the folding tool is free to move in space and can be delivered to hard to reach workpiece areas. Even heavy or unwieldy workpieces can be processed more easily.

The arrangement of a stationary arranged folding tool and a relative thereto moving workpiece, however, has the advantage that the workpiece not only the folding tool, but also other, arranged in the surrounding processing stations can be supplied, whereby a process flow can be optimized in the folding device.

The folding device may have a folding bed, which may be arranged in the region of a folding edge to be machined under a workpiece. The folding bed can be fixed stationary or be arranged on a gripping device of a manipulator and be moved with a workpiece. Supporting a folding or flanging edge can have a positive influence on the quality of processing, especially in the case of so-called visible edges. The folding device may further comprise one or more clamping devices by means of which a one- or multi-part workpiece can be fixed on the folding bed.

The folding device can have one or more further processing stations, such as, for example, an application device or a corner slide. The application device can be designed, in particular, as a stationary device for applying an adhesive or sealant to the workpiece. The corner slide can be designed for intermediate or reworking of corner areas of a seam geometry and can be stationary as a separate processing station or as a molding on the seaming tool.

In a particularly preferred embodiment of the invention, the folding device includes a supporting device for the workpiece in the form of a multi-axis industrial robot. One or more folding tools are arranged stationary on a frame and form a processing station. The folding tool and a corner slide and an applicator are located in the range of movement of the workpiece guided by the robot.

In such a folding device, it is advantageously possible to combine folding processing steps and adhesive or sealant application and an intermediate or Nachfalzung corner areas in an optimized process. Thus, for example, in a first step, a pre-folding of the respective seam edges of a workpiece take place. In a further step, a sealing agent can be introduced into the preformed folded edges. Subsequently, if necessary, multi-stage Fertigfalzen done.

With the folding device according to the invention in this case can perform different curls and folds with the same folding tool and possibly only by changing a head module. The change of such a head module can advantageously be done while a glue or Sealant is introduced into the pre-machined folding edges, whereby the process time can be shortened. In the aforementioned embodiment of the folding device different workpiece variants or completely different workpieces can be edited in any order even at very low cycle times. Thus, the folding device allows maximum flexibility.

The folding device advantageously has a control, which may be preferably connected to the folding tool, a manipulator and one or more processing stations. The folding tool, the manipulator and the processing stations are preferably controlled or regulated jointly. In this case, the controller can be connected to the detection device for folding parameters. In this way, it is advantageously achieved that the respective parts of the folding device can execute coordinated process steps and movements.

The folding device may further comprise a tuning device, by means of which the rotational speed of the driven folding rollers and the web speed of the relative movement of the seaming tool and seaming edge can be influenced. Depending on the design of the workpiece to be machined, it may be advantageous to synchronize the rotational and rolling speed of the folding rollers and the web speed or to set a targeted speed difference. The tuning device may advantageously be formed as part of the controller and / or connected to the detection device for folding parameters. The change in the relative velocity can be used as a regulatory intervention to optimize the folding process.

Figur 1:

Eine schematische Darstellung einer Falzeinrichtung in Seitenansicht,

Figuren 2 bis 7:

teilweise geschnittene Darstellungen eines Falzrandes unter Eingriff eines Falzwerkzeugs,

Figur 8:

eine erste Ausführungsform eines Falzwerkzeugs,

Figur 9:

eine weitere Ausführungsform eines Falzwerkzeugs,

Figur 10:

eine Draufsicht auf eine Falzeinrichtung.

The invention is illustrated by way of example and schematically in the drawings. Show it:

FIG. 1:

A schematic representation of a folding device in side view,

FIGS. 2 to 7:

partially cut representations of a seaming edge under the intervention of a seaming tool,

FIG. 8:

a first embodiment of a folding tool,

FIG. 9:

another embodiment of a folding tool,

FIG. 10:

a plan view of a folding device.

The invention relates to a folding device (1) and a folding method. It also relates to the components of the folding device (1), in particular a folding tool (2).

The folding device (1) according to the invention can be designed in different stages of expansion. It has at least one folding tool (2), which is preferably formed from a base carrier (3) and a tool head (4). The folding tool (2) has at least one rotationally driven folding roller (21, 22) and at least one counter roller (23, 24), which is freely rotatably mounted. The folding roller (21,22) and the counter-roller (23,24) are assigned to each other and act together during the folding process.

In a multiple roller arrangement, the folding rollers (21,22), possibly with their associated counter-roller (23,24), on different sides of the folding tool (2), in particular of the tool head (4), be arranged. They can be arranged in particular on diametrically opposite sides or also over the corner.

FIG. 1 shows a preferred embodiment of the folding device (1) in a schematic side view. The folding device (1) has a folding tool (2) in this embodiment. The folding tool (2) is movably arranged on a carrying device (41). In this embodiment, the carrying device (41) consists of a multi-axis manipulator (6), for example an industrial robot, in particular an articulated-arm robot with six or more axes. The manipulator (6) or robot can have a programmable controller in which in particular a trajectory of the manipulator (6) or robot is programmed and stored. The folding tool (2) is connected to a manipulator hand (7), which may also be multiaxial and, for example, has two or three axes of rotation. According to the invention, in the region of the connection point, the folding tool (2) has a connection (15) for connection to the output flange of the robot hand (7), which is designed as a flange plate.

The folding device (1) further comprises in the illustrated embodiment, a support means (42) for a one or more parts workpiece (9,10). The carrying device (42) is designed as a stationary frame. On the frame a folding bed (13) is arranged. On the folding bed (13) can in turn rest from one or more components (9,10) formed workpiece and possibly fixed with clamping devices (11). The folding tool (2) can be moved by the manipulator (6) relative to the single-part or multi-part workpiece (9, 10).

According to FIG. 1 the folding device may further comprise a controller (8), which may preferably be connected to the manipulator (6), the folding tool (2) and optionally further processing stations. Such a processing station can be, for example, a prefolding device (12) arranged on the folding bed (13). It is also possible to arrange one or more stationary corner slides (44) on the folding bed (13) or the support means (42) for the workpiece (9,10), wherein the corner slide (44) can be connected to the controller (8) ,

The folding device (1) is designed to perform folds or crimping on one or more folding or flanged edges (33, 34) of a single-part or multi-part workpiece (9, 10). For this purpose, the folding tool (2) preferably has one or more pairings of driven folding rollers (21, 22) and possibly one or more freely rotatable counter rollers (23, 24, 25, 26).

In the FIGS. 2 to 6 preferred engagement positions of the driven folding rollers (21,22) and counter-rollers (23,24,25) in different processing stages of a flange are shown schematically and in partial section. FIG. 2 shows an upright flanged edge (33) of a component to be folded (9), which is arranged on a folding bed (13). In the region of the seaming edge (33), a support edge (35) of a further component, in this case a support frame (10), is arranged, which essentially comes into contact with the beaded edge (33).

Such a component configuration consists, for example, in sunroof or Faltdachausnehmungen which are incorporated in the roof panel of a vehicle body. In this case, the vehicle roof is placed on a folding bed (13) as a preformed component (9) from a metal sheet. The component (9) has an inside punching or recess in the form of the later sunroof opening. At The inner sides of the recess remain standing substantially transversely to the roof plate standing workpiece edge (33), which serves as a flanged edge. On the side of the component (9) directed towards the vehicle interior, a further component (10) in the form of a support frame is placed, which has a workpiece edge (35). This edge of the workpiece serves as a support edge (35) around which the crimping edge (33) of the component (9) is to be folded. The support edge (35) comes to rest on the side of the folding or flanged edge (33) pointing away from the recess.

The FIGS. 2 to 6 represent how such a flanged edge (33) by means of the folding device (1) of the folding tool (2) in several stages around the support edge (35) can be crimped.

In the starting position of FIG. 2 is the Falzöffnungswinkel α of the flanged edge (33) is about 180 °. In a first processing step, the crimping edge (33) can be folded, for example, to a crimp opening angle α of approximately 135 °, as shown in FIG FIG. 3 is shown.

Here, the beaded edge (33) is folded by a driven folding roller (21) along a folded edge (51). Below the folded edge (51), a lower region of the flanged edge (33) remains as an upright web, which is oriented substantially parallel to the supporting edge (35) resting thereon. The first counter-roller (23) can in this case in the lower region of the flanged edge (33) in the direction of the underlying support edge (35) be pressed from the outside and prevent buckling or unwanted deformation of the seaming edge (33) in this area.

On the driven folding roller (21) facing away from the flanged edge (33), a second counter-roller (25) may be arranged. The counter-roller (25) preferably has two conical or frusto-conical and mutually offset Areas of the lateral surface. During a folding process, the second counter-roller (25) can perform a dual function. On the one hand, it can be used for the rear support against the counter-roller (23), wherein the lower portion of the beaded rim (33) and the support edge (35) between the two counter-rollers (23,25) are stretched. On the other hand, the upper portion of the flanged edge (33) can be folded in a defined manner from the driven folding roller (21) on the second counter-roller (25). In this way, advantageously, an accurate positioning of the folded edge (51) to be introduced with simultaneous tension of the workpiece parts (9,10) take place.

During a folding operation, the folding tool (2) with the folding rollers (21) and counter rollers (23, 25) arranged thereon move at a web speed (50) along the workpiece edge (33) to be machined. In this way, the folding tool (2) can rotate once around the annular fold edge (33) of the exemplified sliding roof recess.

In a further, for example, second processing step, the beaded edge (33), as in FIG. 4 are folded from a Falzöffnungswinkel α of 135 ° to a Falzöffnungswinkel α of about 90 °. For this purpose, a driven folding roller (21) can fold the folded edge (33) substantially in the direction of the folding bed (13). The lower region of the folded edge (33) can in turn be counteracted or pressed against by a counter-roller (23) on the outside in the direction of the supporting edge (35). The machining can take place with a specific web speed (50) and in the direction of the substantially annular workpiece edge (33).

The bead (33) can according to FIG. 5 be folded in a, for example, third processing step to a Falzöffnungswinkel of about 45 °. For this purpose, the upper region of the seaming edge (33) can be folded around the supporting edge (35) by a driven conical folding roller (22) directed essentially in the direction of the folding bed (13). The lower region of the flanged edge (33) can be held by a counter-roller (24) against the underlying support edge (35) and optionally pressed, wherein the folding tool (2) again the example annular workpiece edge (33) with an adjustable web speed (50th ) rotates.

In an example, fourth processing step can according to FIG. 6 a Fertigfalzen the Bördelrandes (33) take place. In this case, a driven conical folding roller (22) can fold the upper region of the flanged edge (33) to a folding opening angle of substantially 0 ° around the now inner support edge (35). The lower region of the flanged edge (33) can be counteracted by a counter-roller (24) and, if necessary, pressed in the direction of the driven folding roller (22) and the support frame (35) lying therebetween. The processing can in turn be carried out with a predetermined path speed (50) and by a single revolution of the example annular workpiece edge (33).

In a preferred embodiment of the folding device, the first two processing steps of the type shown can be carried out by a pairing of a cylindrical driven folding roller (21) and a cylindrical freely rotating counter-roller (23). For the first processing step, a further counter-roller (25) with a substantially stepped double-cone shape can be used in addition to the counter-roller (23). The folding roller (21) and the counter roller (23) can be aligned so that they, as in FIG. 3 shown, between their active surfaces form a Falzöffnungswinkel α of about 135 °, wherein the axes of rotation of the drive roller (21) and the counter-roller (23) between them enclose an angle β of about 135 °.

For the implementation of the second processing step, the same pairing of folding roller (21) and counter-roller (23) can be used, wherein the counter-roller (23) and / or the folding roller (21) are adjusted so that they have a Falzöffungswinkel α of their active surfaces form about 90 ° and also between the roller axes of the driven folding roller (21) and the counter-roller (23) is formed an angle β of about 90 °.

The adjustment of the counter-roller (23) and / or the folding roller (21) can be done after discontinuation of the seaming tool (2) from the workpiece (9,10) or even during the tool engagement and without settling.

In the Figures 5 and 6 Both processing steps shown can both preferably be carried out by means of a further pairing of a cylindrical folding roller (22) and a cylindrical counter roller (24). For the third processing step, the seaming roller (22) and the counter-roller (24) can be positioned relative to one another in such a way that a seam opening angle of approximately 45 ° is formed between their active surfaces. Here, the angle β between the roller axes of folding roller (22) and counter roller (24) can be about 90 °.

As in FIG. 6 illustrated, the counter-roller (24) and / or the folding roller (22) for the fourth processing step are adjusted to each other such that the active surfaces of the folding roller (22) and the counter-roller (24) are arranged substantially parallel to each other. Here, the angle β between the roller axes may be about 45 °.

In addition to the pairings of a cylindrical folding roller (21) and a conical folding roller (22) each having a cylindrical counter roller (23, 24), any other forms of folding rollers (21, 22) and counter rollers (23, 24) are possible. The lying between the respective roller axes angle β may be correspondingly different and are dependent on the produced Falzöffnungswinkel α and the shell geometry of the folding rollers (21,22) and counter-rollers (23,24).

FIG. 7 shows a further preferred use of the folding device (1), such as an external folding edge (34) of a workpiece (9) from an initial Falzöffnungswinkel of about 135 ° to 150 ° (folded edge 34 in dashed lines) to a Falzöffnungswinkel of about 90 ° can be folded. Such seam geometries occur, for example, in the automotive industry, when the outer edges of sheet-like components, such as bonnets, are folded over. Such components (9), for example, after a preforming process in a press on a workpiece edge with a Falzöffnungswinkel of about 135 to 150 °, which is folded over with a flat or drop fold inward.

The processing of such a fold edge (34) can in turn be multi-level. FIG. 7 shows how the seaming edge (34) of the component (9) is folded in a first processing step by a pairing of a tapered seaming roller (22) and a conical or optionally double-cone counter-roller (26) to a Falzöffnungswinkel of about 90 °.

The driven folding roller (22) and the counter-roller (26) can in this case be arranged such that a gap (38) is formed between them. During a folding process the folded edge (34) between the driven folding roller (22) and the counter-roller (26) in the gap (38) can be retracted. Here, on the in the gap (38) located seaming edge (34) a substantially in the cleavage direction and the component (9) directed away tensile force can be generated by which the seaming edge (34) in a defined manner and guided in the gap (38) is held. In this way, the mechanical stresses in the component (9) in the region of the folded edge (51) can be selectively influenced, whereby a particularly well-defined fold while avoiding bulges or denting in the areas of the component (9) directed away from the fold edge is achieved. Depending on the design of the counter-roller (26), the component (9) can additionally come into contact with the folding roller (26) in the region facing away from the rebate edge (34) and be supported by it.

By means of the folding device (1) according to the invention, it is possible to perform high-quality folding even on visible edges, without the areas of the workpiece (9) remote from the seam edge (34) having to be supported by a folding bed (13). It can therefore be dispensed with a folding bed (13) in this folding step.

The folding tool (2) of the folding device (1) according to the invention is in FIG. 8 shown in a first preferred embodiment. It has a base support (3) in the form of, for example, a tube-like frame (14) and a head part (4) fixedly or detachably connected thereto. The base support (3) may have at its end remote from the folding head (4) a connection (15) for connection to a carrying device (41).

The connection (15) may in this case be designed for attachment to a stationary frame or be present as a flange plate for connection to a manipulator hand (7). The connection (15) preferably has one Media execution on. This can also be designed as a so-called. Media coupling and adapted to corresponding elements of a manipulator hand (7). For example, electrical energy, compressed air as well as sensor, control and regulating signals can be conducted through the connection (15) and connected to parts of the folding tool (2) via the media feedthrough. In or on the frame (14) of the main body (3), for example, one or more drives (16,17) and / or one or more detection devices (36) may be arranged, which are connected to the media feedthrough.

At the head part (4) of the folding tool (2) according to the invention one or more driven folding rollers (21,22) are arranged, each of which one or more freely rotating counter-rollers (23,24,25) are assigned. The folding rollers (21, 22) can preferably be mounted displaceably on a respective drive axle (27, 28). The drive axle (s) (27, 28) can be oriented transversely or obliquely to the longitudinal axis of the frame (14). The folding tool (2) can have an adjusting device (31 ') via which an advancing movement (32) of the driven folding rollers (21, 22) can be effected individually or jointly. The feed movement (32) may be e.g. take place along the drive axis (27,28).

The folding rollers (21, 22) can also be arranged rigidly on the drive axles (27, 28). A delivery of the folding rollers (21,22) relative to the workpiece (9,10) can take place in this case via a relative movement between the workpiece (9,10) and folding tool (2) effected by a support means (41,42).

The counter-rollers (23,24) are arranged for example on a roller carrier (29). The in FIG. 8 illustrated roller carrier is only one possible embodiment. The counter-rollers (23,24,25) can over any other forms of own or common roller carriers, for example as a swivel or sliding mechanisms or as a revolver, be mounted on the folding tool (2). The roller carrier (29) may itself be firmly connected to the folding tool (2) or as in FIG. 8 represented, slidably arranged. The folding tool (2) can also have a plurality of roller carriers (29), which can be mounted on different areas of the folding tool (2) and delivered in different ways.

The folding tool (2) can have one or more adjusting devices (31) for adjusting the counter-rollers (23, 24, 25, 26). The adjusting devices, for example, a pivoting movement (30) for adjusting the position of the counter-rollers (23,24,25,26) cause. The adjusting devices (31) can be arranged in the tool head (4) or in the base carrier (14) and can have their own drives (17). The adjusting devices (31) can also be actuated via external drives. Furthermore, an adjustment, in particular a pivoting movement (30) of the counter-rollers (23,24,25,26) in any other way and possibly also manually.

The adjusting devices (31) or the roller carriers (29) can have devices for mechanical locking of the counter-rollers (23, 24, 25, 26) in specific predefined positions.

FIG. 9 shows a further preferred embodiment of the folding tool (2) of the folding device (1) according to the invention. The folding tool (2) has a modular construction, wherein the head part (4) is designed as a head module (37). If necessary, the head module (4) can be connected to the base support (3) by a quick-release or coupling device (not shown). The base support (3) has one or more connections (18,19,20), via which a media and / or Energy provision for the tool head (4) and in particular a head module (37) can take place. This may be, for example, a connection (18) in the form of a splined shaft for providing kinetic energy and a connection (19) for providing compressed air or pneumatic energy and a connection (20) for providing electrical energy. There may also be connections (not shown) for exchanging sensor, control or regulating signals between the base carrier (3) and the head module (37).

The head module (37) may have any of a variety of embodiments and may include one or more pairings of a driven seaming roller (21, 22) each having one or more freely rotating counter rollers (23, 24, 25, 26). The head module (37) can also have additional driven or free-rotating folding rollers or counter-rollers.

The drive (16) for the folding rollers (21, 22) can preferably be designed as a controllable or controllable electric motor and arranged in the frame (14) of the basic carrier (3). The output energy of the electric motor can be introduced, for example via the terminal (18) in the head module (37) and there possibly via a transmission (not shown) to one or more folding rollers (21,22) forwarded.

Adjusting devices (31, 31 ') for adjusting counter-rollers (23, 24, 25, 26) and folding rollers (21, 22) can be arranged on the head module (37). For actuating the adjusting devices (31, 31 '), one or more drives (17) can be arranged in the head module (37). The drives (17) can preferably be supplied with electrical or pneumatic energy via terminals (19, 20).

It is also possible to arrange one or more drives (17) in the frame (14) of the base support (3), wherein the drive energy of the drives (17) via terminals (18,19,20) in the head module (37) and to the Control devices (31,31 ') can be forwarded.

The folding device (1) may have a detection device (36) for folding parameters, which is designed, for example, for detecting drive energy of the folding rollers (21, 22) and in particular for detecting motor currents of one or more drives (16). The detection device (36) can also be designed as a sensor for detecting reaction forces and / or reaction moments. The reaction forces and / or reaction moments can be detected directly via a measuring device (not shown) arranged in the folding tool (2) and / or indirectly via other measuring devices such as, for example, force and torque measuring means of a manipulator (6).

The detection device (36) can be designed independently and be arranged, for example, in the frame (14) of the basic carrier (3). It can also be part of a common control (8) of the folding device (1).

In FIG. 10 a further particularly preferred embodiment of the folding device (1) is shown. The folding device (1) has a stationarily arranged folding tool (2), which is arranged on a carrying device (41) and together with the latter forms a folding processing station (40). The folding device (1) also has two further processing stations (40) as stationary formed corner slide (44) and stationary arranged applicator (43) for adhesive and / or sealant.

In the in FIG. 10 In the embodiment shown, a multipart workpiece (9, 10) is moved by a carrying device (42) relative to the processing stations (40). The carrying device (42) is designed here as a multi-axis manipulator (6) which has a gripping device (47) on a manipulator hand (7). At the gripping device (47), a carry-along folding bed (13) can be arranged. If necessary, the gripping device (47) can also serve as a tensioning device and fix the components (9, 10) of the workpiece together and on the folding bed (13). However, there may also be separate clamping devices (11).

In the area of movement of the workpiece (9, 10) guided by the manipulator (6), in the embodiment shown, the folding device (1) is also provided with a supply (45) and a discharge (46) for components (9, 10) and workpieces, and an assembling station ( 48) arranged for joining components (9,10). Components (9, 10) can be supplied individually or jointly from the outside to the folding device (1) via the feed (45) and, where appropriate, joined together in the assembling station (48) to form a multi-part workpiece (9, 10). The finished workpiece (9,10) can be removed via the discharge (46).

The folding device (1) preferably has a control (8), which, for example, in the illustrated embodiment with the support means (42) in the form of a manipulator (6) and the folding tool (2), the corner slide (44) and the applicator (43 ) connected is. The folding device (1) may further comprise a tuning device (39) for adjusting the rotational speed (49) or rolling speed of the driven folding rollers (21, 22) on the workpiece (9, 10) and the web speed (50) of the guiding movement of the carrying device (41, 42) ) on. The voting device (39) is here part of the controller (8) and connected to a in the folding tool (2) detection device (36).

The tuning device (39) can be used to influence the rotational speed (49) of the driven folding rollers (21, 22) and the movements of the workpiece (9, 10) guided by the manipulator (6, 10) in such a way that the rotational speed (49) coincides with the path speed (FIG. 50) is synchronized to synchronism. However, the tuner (39) may also produce a targeted speed difference or proportionality between the speed of rotation (49) and the line speed (50).

During a folding or flanging operation, the detection device (36) can record parameters of the folding, such as rotational speed (49), drive energy, pressing and guiding force or the like, and ascertain deviations in the folding process caused, for example, by material or production inaccuracies. The controller (8) can, for example, intervene regulatively in the folding process by including the signals of the detection device (36) via the tuning device (39). The intervention can be effected, for example, by increasing or decreasing the rotational speed (49) of the folding rollers (21, 22) relative to the web speed (50) of the relative movement of folding tool (2) and folding edge (33, 34). The guideway programmed and stored in the robot (6) can also be changed.

Other regulative interventions in the folding process are also possible, for example by increasing or decreasing the angle β between the axes of an engaged folding roller (21, 22) and one or more counter rollers (23, 24, 25, 26).

Variations of the embodiments shown and described are possible in various ways. The folding tool (2) can have any number of roller pairs, wherein the adjustment and the delivery of the folding rollers (21,22) and counter-rollers (23,24,25,26) can be done in any other way. For example, an externally operable adjusting and or pivoting mechanism may be provided, which optionally has a mechanical lock and does not need its own drive (17).

The number and arrangement of the folding and counter rollers (21 to 26) may vary. For example, only a driven folding roller (21) on the tool head (4) may be arranged, which can be delivered via a turret mechanism one or more counter-rollers. It is also possible, as an extension of the folding device (1) to introduce other folding tools (2) without driven folding rollers or without counter-rollers.

The design of the processing stations (40) can also be changed. These may be stationary or movable and possibly have their own controls. In addition, it is possible to interchange and combine the features contained in the embodiments shown and in the described embodiments as desired.

Within the various variants, the following individual features may be essential, which are also significant in combination with each other. The folding tool (2) can in particular have two folding rollers (21, 22), to each of which at least one counter roller (23, 24, 25, 26) is assigned. Further, at least one folding roller (21, 22) may be two or more Be assigned counter-roles (23,25). The folding rollers (21, 22) can have different, in particular cylindrical, conical or crowned, shell shapes, in particular with offset lateral surfaces. The folding tool (2) can have at least one pairing of a conical folding roller (22) and a conical counter roller (26), wherein a gap (38) is formed between the folding roller (22) and the counter roller (26). A folding roller (22) and a counter roller (26) can be arranged relative to one another such that, during folding, a tensile force (F) directed away from a substrate, eg a folding bed (13), acts on the gap (38) between the rollers (22 , 26) located fold edge (34) is exercised.

The base support (3) has a connection (15) for a stationary arrangement or for a connection to a manipulator (6). The connection (15) has a media feedthrough. The connection (15) can be designed as a flange plate for connection to a manipulator hand (7) or for attachment to a stationary frame. The carrying device (42), in particular a multi-axis manipulator (6), may comprise a gripping device (47) for receiving one-piece or multi-part workpieces (9, 10), e.g. a folding tool (2) on a stationary support means (41) is arranged and forms with this a processing station (40) for relatively movable workpieces (9,10). The folding device (1) may have a folding bed (13) with clamping device (11) for one or more workpieces, which may be present several times and which is connected to the carrying device (42) for workpieces (9, 10). In particular, one or more entrained folding beds (13) can be arranged on the gripping device (47).

The folding device (1) can have an application device (43), in particular for adhesive or sealing means. It can also have at least one stationary and / or vom Folding tool (2) entrained corner slide (44).

LIST OF REFERENCE NUMBERS

1

folding device

2

folding tool

3

base support

4

tool head

5

magazine

6

manipulator

7

manipulator hand

8th

control

9

Workpiece, component, sheet metal

10

Workpiece, component, support frame

11

tensioning device

12

Vorfalzvorrichtung

13

folding bed

14

frame

15

Connection, flange plate

16

drive

17

drive

18

Connection, kinematically

19

Connection, pneumatic

20

Connection, electrical

21

Folding roller, cylindrical

22

Folding roller, conical

23

Counter roll, cylindrical

24

Counter roll, cylindrical

25

Counter roll, conical

26

Counter roll, conical

27

drive axle

28

drive axle

29

roller carrier

30

pivotal movement

31

Adjusting device, pivoting device

31 '

Setting device, delivery device

32

infeed

33

Workpiece edge, beaded edge, seam edge

34

Workpiece edge, seam edge

35

Workpiece edge, support edge

36

detector

37

head module

38

gap

39

matcher

40

processing station

41

Carrying device for folding tool

42

Carrying device for workpiece

43

applicator

44

corner slide

45

supply

46

removal

47

Gripping device, workpiece carrier

48

Assembling station

49

rotation speed

50

web speed

51

Folded edge, flanged edge

α

Falzöffnungswinkel, folding angle

β

Angle between roller axes

F

traction

Claims (15)

1. Folding apparatus having at least one folding tool (2), which has a basic carrier (3) and a tool head (4), wherein the folding tool (2) has at least one folding roller (21, 22) and at least one freely rotatable abutment roller (23, 24), wherein the folding roller(s) (21, 22) and the abutment roller(s) (23, 24) are assigned to one another and interact during the folding process and are arranged on the tool head (4), wherein the folding tool (2) has a connection (15) which is designed as a flange plate and intended for attachment to the output flange of a robot hand (7), characterized in that the at least one folding roller (21, 22) is driven in rotation, in a controllable or regulable manner, by an electric motor.
2. Folding apparatus according to Claim 1, characterized in that the basic carrier (3) has one or more connections (18, 19, 20) for supplying media and/or energy to the tool head (4).
3. Folding apparatus according to Claim 1 or 2, characterized in that a plurality of folding rollers (21, 22) are arranged on different sides of the tool head (4).
4. Folding apparatus according to Claim 1, 2 or 3, characterized in that the folding rollers (21, 22) are driven individually or together via one or more drives (16), preferably arranged in the tool head (4).
5. Folding apparatus according to one of the preceding claims, characterized in that the folding apparatus (1) has a sensing means (36) for sensing folding parameters.
6. Folding apparatus according to one of the preceding claims, characterized in that a sensing means (36) senses drive energy, in particular motor currents, of the folding rollers (21, 22) and/or a sensing means (36) is designed as a sensor unit for sensing reaction forces and/or reaction moments.
7. Folding apparatus according to one of the preceding claims, characterized in that one or more abutment rollers (23, 24, 25, 26) are arranged in an adjustable manner, wherein the folding tool (2) has an adjusting device (31) for adjusting abutment rollers (23, 24, 25, 26) and/or a roller carrier (29).
8. Folding apparatus according to one of the preceding claims, characterized in that one or more folding rollers (21, 22) are arranged in a displaceable manner on a respective drive spindle (27, 28).
9. Folding apparatus according to one of the preceding claims, characterized in that the folding tool (2) has an adjusting means (31') for adjusting, in particular axially advancing, folding rollers (21, 22).
10. Folding apparatus according to one of the preceding claims, characterized in that the folding apparatus (1) has a carrying apparatus (41, 42) which is designed as a multi-axis manipulator (6) and is intended for carrying one or more folding tools (2) and/or workpieces (9, 10) in one or more parts.
11. Folding apparatus according to one of the preceding claims, characterized in that one or more components (9, 10) of a workpiece is/are fixed on a folding bed (13) by way of one or more clamping means (11).
12. Folding apparatus according to one of the preceding claims, characterized in that the tool head (4) is designed as an interchangeable head module (37), wherein the folding apparatus (1) has one or more magazines (5) for supplying head modules (37).
13. Folding apparatus according to one of the preceding claims, characterized in that the folding apparatus (1) has a control means (8), which is connected to a manipulator (6) and to at least one folding tool (2).
14. Folding apparatus according to one of the preceding claims, characterized in that the folding apparatus (1) has a coordinating means (39) for coordinating, in particular synchronizing, a rotary speed (49) of a driven folding roller (21, 22) and a path speed (50) of the relative movement between the folding tool (2) and a folding periphery (33, 34).
15. Folding apparatus according to one of the preceding claims, characterized in that the coordinating means (39) is connected to a sensing means (36) for sensing folding parameters, and/or the coordinating means (39) is part of the control means (8).

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