GRIPPER FOR A DEVICE FOR SHAPING AND / OR COATING A FILM ELEMENT

Description

[0001] The invention relates to a gripper for a device for forming and / or laminating a film element, in particular for a draping frame, with at least two opposing and mutually movable gripper jaw elements for gripping the film element.

[0002] The invention further relates to a draping frame for shaping and / or laminating a foil element.

[0003] The invention further relates to a device for forming and / or laminating a foil element with a plurality of grippers and with a forming tool or a laminating tool, wherein the forming tool or the laminating tool comprises a lower tool and an upper tool.

[0004] Devices for forming and / or laminating a film onto a molded part or a substrate to be laminated are known from the prior art. Such devices usually comprise a tensioning frame by means of which the film is stretched in a film plane relative to the molded part or the substrate to be laminated, wherein, for example, the molded part or the substrate to be laminated is subsequently moved through the film plane in order to form or laminate the film.

[0005] For example, European patent application EP 2 397 308 A2 discloses a device for stretching and forming a foil blank with such a tensioning frame, in which this foil blank is clamped between an upper tensioning frame and a lower tensioning frame of a tensioning frame and is thus held against a forming tool. The tensioning frame can be adjusted translationally in the x, y and z directions, i.e. along three spatial axes, and additionally rotated about a fixed point, i.e. about exactly one spatial axis, in order to ensure that the foil blank slides during a forming process.

[0006] From DE 699 09 835 D2, a machine for stretching and vacuum forming a rectangular sheet of plastic material is further known, wherein the machine comprises a clamping frame made of four clamping strips, by means of which one edge of the rectangular plastic sheet can be clamped. Two clamping strips are arranged opposite each other in pairs, with each clamping strip comprising several secondary clamping devices. These secondary clamping devices are mounted on each clamping strip and can move along the length of the respective clamping strip with a low coefficient of friction, being pulled along by the material sheet. In this respect, the secondary clamping devices move proportionally to the movement of the clamping strips in order to counteract edge distortion.

[0007] With such tension frames, considerable tensile forces often act on the film, which can potentially lead to unfavorable, undesirable film stretching, especially in curved, bent or undercut areas of the molded part or the carrier part.

[0008] Such film stretching can lead to significant losses in optical quality, especially in films with high-quality, textured or similar valuable surfaces.

[0009] To avoid or at least mitigate these disadvantages, tensioning frames with individual grippers already exist. These grippers grasp the film at its edges and then pull it over the molded part or the substrate to be laminated. Such grippers counteract the risk of excessive film stretching.

[0010] Furthermore, a device for stretching and / or shaping and / or covering a foil element is known from publication WO 2017 / 215684 A1.

[0011] Publication CN 107 443 771 concerns the field of materials technology and in particular a system and method for impregnation preparation.

[0012] The publication EP 2 583 805 A1 concerns a carrier device for a carbon fiber-containing resin plate for use as an automotive part, aircraft part and the like.

[0013] Document WO 97 / 47461 A1 relates to a method and a device applicable to both thermoforming and compression molding of sheet material, wherein the sheet material is pre-stretched differently and selectively before the forming step.

[0014] The invention is based on the objective of further developing a generic device of this type. In particular, the object of the invention is to produce higher-quality or at least equivalent-quality shaped and / or laminated components despite savings in film material.

[0015] According to a first aspect, the object of the invention is achieved by a gripper for a device for forming and / or laminating a film element for a draping frame, comprising a gripper chassis and at least two opposing and mutually movable gripper jaw elements for gripping a film element, wherein the gripper jaw elements are arranged on a gripper head part of the gripper, and wherein the gripper head part of the gripper is movably mounted relative to the gripper chassis with at least one degree of freedom. The gripper chassis itself is mounted relative to the draping frame with at least six further degrees of freedom, so that the gripper has a total of at least seven degrees of freedom.

[0016] The gripper head, which is additionally movable relative to the gripper chassis, allows the film element to be positioned in a more differentiated manner relative to a molded part or a carrier part to be laminated, thereby significantly reducing the risk of excessive film stretching.

[0017] In other words, this means that the gripper head can be moved independently of any movement of the gripper chassis in space, particularly in a draping or laminating room.

[0018] This is particularly advantageous with regard to components that are constantly being redesigned and increasingly complex in shape.

[0019] Especially in the automotive sector, laminated components with increasingly complex surface designs are being created, such as door panels, armrests, seat backs or other automotive interior trim parts.

[0020] The invention proposed here makes it possible to manufacture laminated components in a material-saving, yet high-quality and cost-effective manner.

[0021] It should be mentioned at this point that the terms "conceal", "cover up", "cover on" or similar are used synonymously here.

[0022] In particular, the gripper can extend into a "folding section" of the film element to grasp it, thereby achieving a further reduction in the required size of the film element.

[0023] In the context of the invention, the term "gripper" describes a device by means of which the film element, in particular the edges of the film element, can be gripped and held securely in operation.

[0024] For secure gripping, the gripper has at least two opposing and mutually movable gripper jaw elements.

[0025] The gripper jaw elements are designed as two gripping surface parts that can be moved relative to each other, by means of which different gripping forces or holding forces can be exerted on the film element to be gripped.

[0026] For example, the grippers can cumulatively or alternatively also include a suction device to grip the foil element in accordance with the present invention.

[0027] The present gripper is particularly distinguished by a gripper chassis on which the gripper jaw elements are not rigidly arranged except for their gripping movement possibilities, but on which a gripper head part supporting the gripper jaw elements is articulated and is interposed between the gripper chassis and the gripper chassis.

[0028] The gripper head is articulated to the gripper chassis in such a way that the gripper head has at least one degree of freedom relative to the gripper chassis, while the gripper chassis itself is mounted to a frame part or the like with several, preferably six or more, degrees of freedom.

[0029] For example, gripper jaw elements can also perform a rolling movement around their longitudinal axis to drape or position the film element in a more differentiated manner relative to the substrate before the actual lamination process begins using differential pressure. This rolling movement can occur independently of any movement of the gripper chassis.

[0030] The gripper chassis can include all necessary adjustment mechanisms for adjusting, in particular spatially adjusting, the gripper, including translational, rotational, swiveling axes or the like, or a drive motor or several such drive motors for driving the gripper.

[0031] In particular, the actual gripper jaw elements, which move relative to each other, are not directly attached to the gripper chassis, but only indirectly by including or interposing the gripper head part.

[0032] This means that the gripper jaw elements, which move relative to each other, are mounted on the gripper head; and the gripper head is movable on the gripper chassis.

[0033] For the purposes of the invention, the term "film element" preferably describes a pre-cut film, i.e., a film cutout appropriately to the molded part or the carrier part to be laminated.

[0034] The foil element can also be in the form of a self-rigid plate element or the like.

[0035] Furthermore, the foil element can be made from a wide variety of materials; in particular, it can also be defined by air-permeable materials, which are especially used in press lamination.

[0036] With a suitable embodiment of the present invention, it is also conceivable to use films in the form of a strip from a roll or the like.

[0037] The term "support element" here describes a basic body, which is preferably three-dimensional. Thus, the support element is a preferably three-dimensionally designed structure, in order to produce three-dimensional components or laminated components.

[0038] Furthermore, it should be noted that, within the context of the present patent application, indefinite articles and indefinite numerical specifications such as "one...", "two...", etc., are generally to be understood as minimum specifications, i.e., as "at least one...", "at least two...", etc., unless it is clear from the context or the specific text of a particular passage that only "exactly one...", "exactly two...", etc., is meant there.

[0039] Furthermore, it should be noted that, within the context of the present patent application, the expression "in particular" is always to be understood as introducing an optional, preferred feature. The expression is not to be understood as "namely" or "namely".

[0040] Furthermore, it should be emphasized here that the present invention, with all its embodiments and related constructive and procedural elements, relates not only to variations of vacuum lamination, but also to variations of press lamination, or the like.

[0041] The degrees of freedom mentioned here are preferably implemented using motorized drive systems; however, they can also be manually adjustable as required. Depending on customer specifications or the required complexity, individual degrees of freedom can be manually adjustable, while others can be adjusted cumulatively or alternatively by motors, particularly automatically.

[0042] A preferred embodiment provides that the gripper head is movable with respect to at least one spatial axis that differs from the spatial axes of the gripper chassis. This further increases the degrees of freedom achievable by the gripper.

[0043] In this context, it should be considered, for example, that the gripper head can also be arranged on the gripper chassis of the gripper in a way that allows for multi-axial adjustment.

[0044] In the context of the invention, the term "multiaxial" describes a multifunctional or multiaxial spatial freedom of movement of the gripper, or in particular the gripper jaw elements, which is defined by several translational and / or rotational degrees of freedom along multiple spatial axes. A translational movement and a rotational movement may share a common spatial axis or have different spatial axes.

[0045] Preferably, the gripper head can be adjusted three-dimensionally relative to the gripper chassis.

[0046] This significantly increases the gripping and adjustment options of the gripper in relation to the film element and especially in relation to the molded part or the carrier part to be laminated.

[0047] In particular, the gripper proposed here allows the film element to be gripped in a more differentiated and effective manner, thereby very effectively avoiding critical film stretching.

[0048] Furthermore, due to the more precise handling, the film element can be cut to an extremely precise size. This significantly reduces the amount of residual film material around the element that would otherwise be wasted, resulting in a considerable overall saving of film waste.

[0049] It is understood that the articulation between the gripper chassis and the gripper head can be achieved in different ways. A structurally simple yet highly effective way to provide an additional degree of freedom is to allow the gripper head to rotate around a rotary axis by means of a rotary drive.

[0050] A rotary drive can be implemented very simply and compactly, for example using a stepper motor or a servo motor. The corresponding rotary motion can be extremely precise if the rotary drive incorporates a worm gear.

[0051] A particularly advantageous additional range of motion can be achieved on the gripper if the axis of rotation is arranged perpendicular to an end face of the gripper chassis, i.e., around a horizontal axis. This allows a section of a film element to be unwound with exceptional precision relative to a carrier part.

[0052] It has been shown that it is advantageous if the gripper head of the gripper is rotatable relative to the gripper chassis about a vertical axis and / or a horizontal axis. This allows a foil element to be applied to the contour of a carrier part with even greater precision, and in particular without stress.

[0053] A horizontal axis can be easily achieved by a rotation axis running perpendicular to an end face.

[0054] A gripper for a device for forming and / or laminating a film element, in particular for a draping frame, is described, with at least two opposing and mutually movable gripper jaw elements for gripping a film element, wherein at least one of the gripper jaw elements has a tempering means by which the at least one gripper jaw element can be at least partially tempered.

[0055] These temperature control devices are preferably implemented as active temperature control devices, so that desired target temperatures can be actively controlled and set on the gripper jaw elements.

[0056] Such temperature control devices can be designed in a variety of ways. In particular, they can be designed as heating devices or cooling devices.

[0057] For example, it should be mentioned here that the temperature control devices can be electrically operated, for instance, as heating wires, heating rods or similar.

[0058] Suitable temperature control devices can also include fluid channels or the like for a heating fluid or cooling fluid, whereby the fluid channels can also be routed through the individual gripper jaw elements.

[0059] Advantageously, the gripper jaw elements are at least partially cooled, allowing even film elements fully coated with adhesive to be gripped. This reduces the risk of the grippers, and especially the gripper jaw elements, becoming directly contaminated with adhesive residue. As a result, these cooled grippers require less frequent cleaning, while still ensuring reliable operation.

[0060] Furthermore, the customer can decide whether to use an adhesive application station for partial adhesive application to the film element, or whether to use the existing grippers with cooled gripper jaw elements in order to potentially save on such an adhesive application station, for example for cost and / or space reasons.

[0061] It is advantageous if at least one of the gripper jaw elements has connection interfaces for temperature control agents, so that the gripper jaw elements can be connected to a cooling and / or heating device.

[0062] For example, a connection interface includes a cooling hose coupling, by means of which cooling fluid hoses can be connected to fluid channels incorporated into the gripper jaw elements.

[0063] Alternatively, in connection with a connection interface for temperature control fluids, electrical connectors could also be used to supply power to electrical components located in or on gripper jaw elements.

[0064] The risk of adhesion, especially of adhesive, to heated gripper jaw elements of the gripper can be significantly reduced if at least one of the gripper jaw elements has an actively temperature-controlled non-stick contact surface.

[0065] Suitable non-stick contact surfaces can be designed in various ways. Preferably, such a non-stick contact surface is designed as a Teflon coating or the like.

[0066] However, other design options can also be considered. For example, a gripper jaw element could be made from a suitable material with anti-adhesive properties, such as ceramics or similar materials.

[0067] The term "non-stick contact surface" essentially describes, within the meaning of the invention, those areas which can come into effective contact with the film element to be gripped.

[0068] In particular, gripping surface parts of gripper jaw elements can be equipped with tempering agents or non-stick contact surfaces.

[0069] A gripper for a device for forming and / or laminating a film element, in particular for a draping frame, is described, with at least two opposing and mutually movable gripper jaw elements for gripping the film element, wherein the gripper is a folding means for folding a film edge around an edge of a carrier part laminated with the film element.

[0070] By integrating such folding devices into the gripper, a manufacturing process for a laminated component can be further streamlined and optimized.

[0071] If the folding means are arranged on the gripper jaw elements with at least two opposing and mutually movable elements, the grippers for laminating and folding can be built very compactly.

[0072] The same applies if the folding means are arranged on a gripper chassis and / or on a gripper head part.

[0073] The grippers presented here can be arranged in a variety of ways on a device for forming and / or laminating a film element. For example, grippers can be arranged on a frame of any design. Or on column-like, preferably individually height-adjustable, base platforms, on which a gripper is mounted. However, grippers can be integrated into devices of this type with particular ease of construction if they are supported by a frame component, such as the draping frame described here.

[0074] According to a second aspect of the invention, the problem is further solved by a draping frame for shaping and / or laminating a film element with a draping space and with a plurality of motor-driven grippers for gripping the film element, wherein grippers of the draping frame have at least partially at least seven degrees of freedom.

[0075] In the context of the invention, the term "draping frame" describes a frame part for arranging a plurality of grippers on or in a draping space such that a film element can first be brought into operative contact with a molded part or with a carrier part to be laminated by means of the grippers or at least by means of a part of the grippers, and secondly can then simply be unwound on this molded part or on this carrier part to be laminated, thereby avoiding unnecessary stretching, in particular longitudinal and / or transverse stretching, of the film element.

[0076] In other words, this means that the foil element with the draping frame according to the invention is at least partially no longer stretched or only stretched negligibly, as is the case with conventional known tension frames.

[0077] The present draping frame differs from conventional tension frames or laminating frames in that the film element is no longer stretched or stretched – as was previously the norm – before being subjected to a differential pressure, especially a vacuum, and thus critically stretched.

[0078] The draping frame can be designed as an open frame part, for example as a type of tubular frame, or closed with an enclosed housing.

[0079] In this context, the draping area is a workspace at least partially enclosed by the draping frame. Preferably, the draping area also serves as a laminating area, in which a foil element can be laminated onto a substrate.

[0080] By providing at least seven degrees of freedom for the grippers, especially their gripper jaw elements, it is structurally extremely easy to treat the film element with the present draping frame in such a way that the film element is placed on the molded part or the carrier part to be laminated without tension or with only a small, rather negligible tension.

[0081] These seven degrees of freedom are available, in particular, at the gripper jaw elements. More precisely, the gripper jaw elements can move with seven degrees of freedom relative to the draping frame and, in particular, within the draping area.

[0082] In this context, the term "draping" as used in the invention describes the planar holding of a foil element in a draping space of a draping frame and in particular in a draping plane in front of a molded part or a carrier part to be laminated, and the at least partial application of the foil element, in particular also to curved surfaces of the molded part or the carrier part to be laminated.

[0083] It is particularly advantageous if the gripper has a gripper chassis which is arranged to be multiaxially adjustable relative to the draping frame with at least two or three, preferably six, degrees of freedom, and the gripper comprises a gripper head part which has at least one further degree of freedom that is different from the degrees of freedom of the gripper chassis. This allows for a very compact design in which at least seven degrees of freedom are available for the gripper jaw elements, the total number of degrees of freedom being achieved by combining individual degrees of freedom of the gripper chassis and the gripper head part.

[0084] A draping frame for shaping and / or laminating a foil element is described, comprising a draping chamber and a multitude of motor-driven grippers for gripping the foil element, wherein the grippers have temperature control means by which the gripper jaw elements can be at least partially temperature controlled.

[0085] As mentioned above, the gripper jaws of the draping frame can be cooled, allowing even fully adhesive-coated film elements to be draped with the frame in front of a molded part or a substrate to be laminated, without the grippers, especially the gripper jaws, becoming critically contaminated with adhesive residue. This also reduces the frequency of cleaning required for such cooled grippers, further enhancing the operational reliability of the draping frame.

[0086] Furthermore, the customer can decide whether an adhesive application station should be used in combination with the draping frame for partial adhesive application to the film element, or whether the draping frame should instead be equipped with grippers with cooled gripper jaw elements.

[0087] Furthermore, it is highly advantageous if the draping frame has a draping chamber that can be at least partially heated, so that a film element already draped in the chamber can still be heated, even after it has been gripped by the grippers. This allows the ideal treatment temperature to be maintained on the film element until shortly before it is formed or laminated, resulting in improved forming or lamination results.

[0088] Therefore, it is equally advisable if the laminating room is designed to be heated.

[0089] A draping frame for shaping and / or laminating a foil element is described, comprising a draping space and a plurality of motor-driven grippers for gripping the foil element, wherein the draping frame is a folding device for folding a foil edge around an edge of a carrier part laminated with the foil element.

[0090] If a draping frame is equipped with such folding tools, the manufacturing process for a laminated component can also be further streamlined and optimized.

[0091] A preferred example of the present draping frame provides that the folding means are arranged on at least one of the grippers, on a gripper chassis of the at least one gripper, and / or on a gripper head part of the at least one gripper, and / or on at least one gripper jaw element of the at least one gripper. This allows the folding means to be integrated into the draping frame extremely easily.

[0092] The same applies if the folding devices are arranged on the draping frame or a part thereof, which also allows the combination of laminating / folding device to be provided in a very compact design.

[0093] It is understood that the folding devices can be designed in a variety of ways, especially if they are arranged at different points on the present draping frame.

[0094] The invention can be implemented in a very simple way if the folding means include at least one folding slide element for folding the foil element or the like.

[0095] In any case, the present draping frame can be advantageously further developed using the grippers described here.

[0096] According to a third aspect, the object of the invention is solved by a device for forming and / or laminating a foil element with a plurality of grippers and with a forming tool or a laminating tool, wherein the forming tool or the laminating tool comprises a lower tool and an upper tool, and wherein the device comprises a gripper or a draping frame according to one of the features described herein.

[0097] A device for forming and / or laminating a foil element is described, comprising a frame part which includes a plurality of grippers, and a forming tool or a laminating tool comprising a lower tool and an upper tool, wherein the frame part includes a gripper or a draping frame according to one of the features described herein.

[0098] If the device for forming a foil element on a molded part and / or for laminating a foil element onto a carrier part is equipped with the present gripper or draping frame, this device can work much more precisely.

[0099] The grippers or draping frame provided here are the only advantages of this type of device, as the device now allows a film element to be unwound almost without tension onto the molded part or carrier part, thus preventing stretching of the film element, at least partially.

[0100] Advantageously, the device includes a feeding and / or insertion device for feeding and / or inserting a film element to or into grippers, particularly a draping frame of the device. This allows for very simple automated transport of the film element into the laminating chamber or into the draping frame, thereby increasing the effectiveness of the device.

[0101] In particular, the foil element can be moved translationally, but also, for example, rotationally around a vertical axis, in order to place it in a suitable and advantageous manner in the draping frame and to insert it into open grippers of the draping frame.

[0102] The present device can be further advantageously enhanced by a draping frame that can be moved transversely to a feed and / or insertion section for feeding and / or inserting a film element, by means of which the fed or inserted film element can be fed to, for example, a lower tool. This allows the draping frame to be easily moved between a forming or laminating position and an insertion position.

[0103] One example describes a device with a heating unit for heating the film element outside a draping chamber, particularly a draping frame. This heating unit, together with the film element, is movable along a feed and / or insertion path for feeding or inserting the film element to or into grippers, or to or into a draping chamber, particularly a draping frame, of the device. Such a heating unit makes it possible to heat a moving film element during its feed movement, so that the film element no longer needs to remain stationary at a heating unit until a target temperature is reached. This allows the device to be operated even more efficiently.

[0104] If the device has a heating unit for heating the film element, which can be arranged at least partially and temporarily within a draping space, in particular a draping frame of the device, the film element can be heated up to the draping frame or draping space, preferably continuously from the point of feeding at the feed and / or insertion section.

[0105] It is understood that the features relating to the heating unit described herein also advantageously further develop a generic device even without the other features of the invention.

[0106] If the device also includes a loading station for supplying it with film elements, the level of automation can be increased even further. This allows for a reduction in operating personnel or their more effective deployment.

[0107] Further efficiency gains can be achieved relatively easily by increasing the degree of automation, if the device has an insertion device for inserting a carrier part to be covered into the device, in particular into a draping area of ​​a draping frame of the device.

[0108] Such a feeding device can be implemented on the apparatus in various ways, for example in the form of linear conveyors or the like. For instance, the feeding of the carrier part is accomplished by means of a belt conveyor or similar device.

[0109] If the device has a removal device for removing a molded part or a laminated component from the device, in particular from a draping chamber of a draping frame or a laminating chamber of the device, the device can be advantageously further developed not only on the input side, but also on the output side, by enabling finished laminated components to be automatically removed from the device.

[0110] Such a removal device can also be implemented in various ways on the apparatus. Here, too, one should consider appropriate linear conveying devices, such as belt conveyors or the like.

[0111] The structural complexity of the device can be significantly reduced if the loading and unloading mechanisms incorporate a shared transfer station. This allows for a substantial reduction in the number of components required for the device. Consequently, the space required for installing the device can also be considerably reduced.

[0112] It goes without saying that various types of transfer equipment can be used for this purpose. For example, a suitable transfer system can be designed as a multi-level conveyor system with different loading and unloading levels.

[0113] However, a structurally preferred example provides that the common transfer station comprises a common robotic unit with a preferably multi-axial movable manipulator. Due to its compact design, flexible motion sequences, etc., such a robotic unit can be implemented very compactly on the present device.

[0114] Regardless of this, both the insertion device and the removal device can be implemented by such a robotic system, possibly even separately.

[0115] A device for forming and / or laminating a foil element is described using a tool comprising an interchangeable lower tool and an interchangeable upper tool, which are interchangeable for product changes, wherein the device is characterized in that the tool includes a draping frame equipped with a plurality of grippers, which is interchangeable for product changes together with the lower tool and / or the upper tool.

[0116] In this design, the draping frame is part of the tool temporarily installed on the fixture and can therefore be replaced along with the lower and / or upper tool if necessary for a product change. This allows the fixture to be retooled for a new product much faster than previous solutions where a frame component of a comparable clamping frame was still part of the fixture itself.

[0117] If the lower tool has a first mold half or a laminating shell part, laminating slide elements or the like, and the upper tool has a second mold half or a carrier part holder, the carrier part to be laminated can in particular be inserted into the draping space and / or the draping frame from above using the carrier part holder, so that, for example, the robot device described above can be used very effectively.

[0118] If the lower tool has a first mold half or a carrier part holder and the upper tool has a second mold half or a laminating shell part, laminating slide elements or the like, the carrier part to be laminated can alternatively be inserted into the draping space and / or the draping frame from below or from the side.

[0119] In order to be able to control or regulate the individual grippers, devices or the like on the device, it is advantageous if the device has a control and / or regulating device by means of which the grippers for gripping the film element can be individually controlled.

[0120] It is particularly advantageous to have a tensile force measuring device for measuring the tensile forces acting between the foil element and the gripper. This allows for very precise control of the grippers. Such a tensile force measuring device can also be part of the control and / or regulation system.

[0121] A device for forming and / or laminating a foil element is described, comprising a frame part which includes a plurality of grippers, and a forming tool or a laminating tool comprising a lower tool and an upper tool, wherein the device has tensile force measuring means by which tensile forces acting between the foil element and the grippers can be measured and monitored.

[0122] Using such tensile force measuring devices, the risk of critical film strains is reduced particularly effectively. In particular, this allows for the monitoring of unwanted stresses or film strains on a film element gripped by the grippers.

[0123] It goes without saying that such tensile force measuring devices can be used in a variety of ways. For example, tensile forces can be easily measured using strain gauges, to name just one example. Such strain gauges can be positioned, for instance, on the gripper head.

[0124] A device for forming and / or laminating a foil element onto a carrier part to be laminated is described, wherein the device has a device for folding over the foil element laminated onto the carrier part.

[0125] If the device is equipped with a folding mechanism, the manufacturing process for a laminated component can also be further streamlined and optimized.

[0126] Furthermore, in this context, it is advantageous if the folding means of the device for folding are arranged on a gripper for gripping the film element, in particular on its gripper chassis, gripper head and / or gripper jaw elements, and / or on a draping frame for forming and / or laminating a film element, and / or on another frame or rack part of the laminating station. This results in a wide variety of design possibilities.

[0127] Furthermore, it is advantageous if the folding means of the device for folding include at least one folding slide element for folding the foil element or the like, which makes it easy to provide the folding means in terms of design.

[0128] The invention can be implemented in a very simple way if the folding means include at least one folding slide element for folding the foil element or the like.

[0129] A device for laminating a film element onto a carrier part is described, comprising grippers for gripping the film element, a carrier part receptacle for holding the carrier part relative to the film element, and a laminating chamber in which the film element is laminated onto the carrier part, wherein the device has an insertion device for inserting the carrier part receptacle and / or the carrier part into the laminating chamber, and wherein the insertion device has at least two degrees of freedom in space, in particular in the laminating chamber.

[0130] The insertion device with at least two degrees of freedom allows the foil element and the carrier part, which must be joined together, to be positioned significantly better and in a more differentiated manner relative to each other, particularly in certain areas and especially within a laminating space or a draping space.

[0131] It is advantageous if the insertion device has a multi-axially movable manipulator, in particular a multi-axially movable manipulator within a laminating space or a draping space.

[0132] For the purposes of this invention, the term "manipulator" describes a device by means of which a robot or robotic system physically interacts with its environment and by means of which mechanical work can be performed automatically. In particular, such a manipulator comprises a multi-jointed robot arm section by means of which multi-axial movements in space are possible.

[0133] The device can be built even more efficiently if the feeding device also serves as a discharge device for removing the laminated component. As described above, this design and process simplifies the handling of both the substrate to be laminated and the laminated substrate or component.

[0134] In order for the device to be used without problems for press lamination, it is particularly advantageous if the device is characterized by a press tool with a first tool half and a second tool half, wherein the first tool half includes the insertion device, in particular the multi-axially movable manipulator.

[0135] Preferably, the first tool half is designed as an upper tool, so that a carrier part can be inserted into a draping or laminating space from above using the insertion device.

[0136] The second half of the tool is accordingly designed as a lower tool, which then includes a mold shell part or the like.

[0137] Preferably, the device includes a lifting device for the second tool half, by means of which the mold shell part or the like can be pressed against the carrier part receptacle of the insertion device.

[0138] In order to ensure that even higher pressing forces can be withstood without damage by the multi-axial insertion device, it is advantageous if the insertion device includes an additional support device for absorbing pressing forces.

[0139] Such a support device can relieve the manipulator in particular, allowing it to be dimensioned "normally" but still withstand high pressing forces without being damaged.

[0140] For this purpose, it is advantageous if the manipulator has an interface to a press force dissipation device, such as a hydraulic cylinder ram or the like.

[0141] A device for forming and / or laminating a film element onto a carrier part is described, comprising a gripper for gripping the film element, a carrier part holder for holding the carrier part relative to the film element, and a laminating chamber in which the film element is laminated onto the carrier part. The device includes a punching unit for punching the film element. Because the punching unit is integrated directly into the laminating device, the finished laminated component can be cleaned of excess film material immediately within the laminating device, thus significantly streamlining the manufacturing process of laminated components.

[0142] In particular, an additional stamping station or the like can be dispensed with on a suitably equipped plant for the production of laminated components.

[0143] For the purposes of this invention, the term "punching device" describes any device by which residual film material can be separated and removed from the laminated film element. Therefore, it is irrelevant whether the film element is punched, cut, torn, or otherwise processed.

[0144] One advantageous example in this regard involves a punching device with a segmented cutting blade comprising a multitude of cutting blade segments. Using such cutting blade segments, a separation process can be carried out successively on a film element, thereby also advantageously reducing the punching forces acting on the laminating device. This is particularly advantageous when the laminated component is held by a manipulator, as this reduces the amount of manipulation or punching forces acting on the manipulator. Consequently, the manipulator can be of a less robust design.

[0145] Furthermore, different component geometries can be more easily reproduced with a segmented die, so that one segmented die can be used for different laminated components, which can further reduce overall manufacturing costs.

[0146] The device can be built in a particularly compact form if the punching unit can be arranged within the laminating area, in particular within a draping area and especially within a draping frame.

[0147] The device can be made even more compact if the punching device is arranged within a sealing device of a pressure differential device of the device.

[0148] If the punching device is arranged within a vacuum chamber of a pressure differential device of the apparatus, residual film material can be removed directly after a laminating process still in the laminating device.

[0149] If the punching device is arranged opposite a carrier part holder for receiving a carrier part to be laminated, the punching device or its individual punching knife segments can, for example, be placed directly next to a mold shell part or the like.

[0150] A device for forming and / or laminating a film element onto a carrier part is described, comprising gripping for gripping the film element, a carrier part receptacle for holding the carrier part relative to the film element, a laminating chamber in which the film element is laminated onto the carrier part, and a pressure differential device for generating a vacuum. The pressure differential device is a segmented sealing device for sealing vacuum areas with a plurality of sealing slide segments. The segmented sealing device allows for a more narrowly defined vacuum chamber on the laminating device.

[0151] This in turn has the positive effect of additional material savings, since a sealing device can be positioned right up to the area of ​​a folded foil section of the foil element. Therefore, even smaller folded areas or folded flaps can be created on the laminated component.

[0152] Advantageously, the sealing slide segments are arranged in a row, one behind the other, so that the foil element can be sealed segment by segment. In particular, this allows a continuous sealing device to be created successively.

[0153] If the sealing slide segments are arranged around a punching device, the device can be made even more compact.

[0154] Segmented sealing of a vacuum space can be improved in particular if the sealing slide segments can be individually controlled and moved.

[0155] A device for forming and / or laminating a film element onto a carrier part is described, comprising a gripper for gripping the film element, a carrier part holder for holding the carrier part relative to the film element, and a laminating chamber in which the film element is laminated onto the carrier part. The device includes a correction device for correcting partial positional deviations of individual film element areas. This correction device can correct positional deviations that may occur after positioning, unwinding, or applying the film element to the carrier part. This allows for the more precise and higher-quality production of laminated components. In particular, it can significantly reduce the amount of defective parts that would otherwise be scrapped.

[0156] Such positional deviations can occur particularly partially on the foil element.

[0157] An advantageous example involves the correction device having detection means for recognizing partial positional deviations. Such detection means can be implemented very simply, for example, using optical sensors. In a very simple embodiment, the correction device can be equipped with a camera that optically records the actual position of the foil element and compares it with a target position of the foil element relative to the carrier part.

[0158] Alternatively or cumulatively, it is advantageous if the correction device includes detection means for identifying specially designed film element areas. In particular, positional deviations of specially designed film element areas are extremely visually disruptive and therefore unacceptable. Such specially designed film element areas can be present, for example, in the case of a blind seam, a 3D seam finish, two-color film materials, or the like, and are immediately visible, so that a positional deviation in this regard often leads directly to a rejected part.

[0159] For example, a misaligned blind seam is detected by optical sensors, whereby a control unit, for instance, activates and moves grippers that grasp and hold the film element in such a way that the blind seam is shifted from its misaligned position to the correct one. The actual laminating process can then take place. If necessary, a manipulator, which has a holder for the carrier part, can also be manipulated by the existing correction device.

[0160] In any case, it is advantageous if the correction device has a control unit for controlling grippers and / or the carrier part holder, so that the position of the film element relative to the carrier part can be changed at least partially before lamination.

[0161] A system for manufacturing a shaped and / or laminated component is described, comprising an input side, an output side, at least one processing line between the input side and the output side, and a device for shaping and / or laminating a foil element, wherein the system includes a device according to one of the features described here.

[0162] If the system is equipped with a device in accordance with the invention, laminated components in particular can be manufactured more effectively and cost-efficiently.

[0163] A system for manufacturing a formed and / or laminated component is described, comprising at least one processing line and a device for forming and / or laminating a film element. The system includes a feeding and / or insertion device for feeding and / or inserting a film element to grippers or into grippers of a draping frame of the device, and / or an insertion device for introducing a carrier part to be laminated onto a lower tool of the device, and / or a removal and / or dispensing device for removing or dispensing a formed part or a laminated component from the device. Such a system also enables very compact production, particularly of laminated components.

[0164] Suitable feeding and / or insertion devices, insertion devices, and removal devices have already been explained above.

[0165] A supply device is designed, in accordance with the invention, to transfer a laminated component to a subsequent processing station of the system, in which the laminated component can then be further processed.

[0166] The system can advantageously be used to produce almost any shaped and / or laminated component, such as automotive components, especially instrument panels, door interior panels or the like.

[0167] The system can be constructed with a particularly simple design if the loading device and unloading and / or dispensing device comprise a common robotic unit with a preferably multi-axial movable manipulator. In particular, with appropriate system design, a loading device for carrier parts and a dispensing device for laminated components can be simultaneously incorporated by means of a dispensing device, especially if the dispensing device is configured to grasp and hold a carrier part at the designated B-side of the laminated component.

[0168] An advantageous example involves a system with a loading station for supplying the device with film elements, with the loading station being integrated inline upstream of the device's processing line. Such a loading station further increases the level of automation in the system, thereby enabling more efficient production of laminated components in particular.

[0169] Another advantageous example involves the system having an adhesive application station for applying adhesive to the film element, with the adhesive application station being integrated inline upstream of the device's processing line. This allows the production of laminated components, in particular, to be further compressed in terms of both space and time.

[0170] If the adhesive application station is located inline downstream of a feeding station in the processing line and / or upstream of a feeding and / or insertion device of the fixture, it is possible to first position the film elements in an organized manner on the processing line of the system in order to then precisely coat the film elements with adhesive using the adhesive application station. Advantageously, this reduces the dwell time of the adhesive-prepared film elements before they are further processed in the draping frame of the fixture.

[0171] The processing of the foil element can be further streamlined if the system has a heating unit for heating the foil element, in particular if the heating unit is integrated into a feeding and / or insertion device for feeding and / or inserting a foil element to grippers or into grippers of a draping frame of the device.

[0172] A further increase in the degree of automation can be achieved on the system if the system has a transfer station for transferring a molded part or a laminated component, wherein the transfer station is downstream of the device in the machining line and upstream of another machining station inline.

[0173] Furthermore, it is advantageous if the system includes a discharge station for discharging a molded part or a laminated component, wherein the discharge station is inline downstream of the processing line of a trimming station and / or a punching and / or a folding station, whereby the finished components can be automatically conveyed away from the upstream processing stations.

[0174] A system for manufacturing a shaped and / or laminated component is described, comprising an input side, an output side, at least one processing line between the input side and the output side, and a device for shaping and / or laminating a foil element, wherein the device includes a device for folding over the foil element laminated to the carrier part.

[0175] If the device combines a laminating and folding function, a separate folding station with a folding device can be dispensed with on the system, which allows the system to be built more compactly.

[0176] A method for forming and / or laminating a film element is described, in which the film element is placed in open grippers and subsequently gripped by the grippers, and in which the film element is furthermore brought into operative contact with a formed part or with a carrier part to be laminated, wherein the film element is at least partially unwound and / or applied to the contour of the formed part or the carrier part by means of grippers.

[0177] Using the proposed method, the foil element can be brought into effective contact or initial contact with the molded part or carrier part almost or preferably completely free of tensile forces or stress.

[0178] This is particularly advantageous with regard to three-dimensionally designed support components.

[0179] In other words, the foil element is applied or unwound to the support part without tensile forces or stress and therefore without stretching by means of the interaction of the grippers and, if necessary, by means of the interaction of a support part holder, and only then is the foil element permanently connected to the support part by applying compressive forces, as described below.

[0180] This ensures a particularly gentle treatment of the foil element, protecting both the material and the surface.

[0181] Unwinding or attaching the foil element to the carrier part without tensile forces, stress, or stretching can be controlled, in particular depending on path parameters, force parameters, speed parameters and / or temperature parameters.

[0182] If the film element is brought into contact with the mold and / or carrier part by means of a gripper, bypassing any stretching or elongation of the film element, the film element can then be at least partially unwound, in particular by means of a draping frame, more precisely by means of a gripper, without critical tensile forces on the surface of the carrier part to be laminated, especially before the film element is laminated onto the carrier part using differential pressure.

[0183] A particularly advantageous variant of the process provides that the film element is applied to the molded part or carrier part at least partially without stretching and / or at least with reduced stretching, exhibiting a partial film elongation of less than 10%, preferably less than 5%, particularly before the film element is laminated onto the carrier part using differential pressure. This avoids critical film stretching, especially before the final lamination of the film element to the carrier part.

[0184] The terms "unwind," "bring into contact," "place," and "apply" describe, within the meaning of the invention, the process of bringing the film element into contact with the molded part or carrier component before, in particular, the film element is laminated by means of a further process step, such as vacuum lamination or press lamination. This is achieved, at least initially, by avoiding the forces exerted by vacuum or press lamination.

[0185] If the foil element is applied to the molded part or the carrier part at least partially with a partial foil elongation of less than 5%, a particularly high quality of appearance can be achieved if this is required for particularly high-quality products.

[0186] If no maximum film elongation of more than 15% is exceeded in any effective contact area between the film element and the molded part or the carrier part to be laminated, especially in the longitudinal and transverse directions of the film element, the film element can be processed particularly gently on the corresponding device and, moreover, a desired appearance can be maintained on the film element.

[0187] In order to be able to process the foil element constructively and also process-wise as described above, it is advantageous if grippers and in particular gripper jaw elements are moved on and / or in a draping space, in particular a draping frame, with up to seven degrees of freedom or more, in order to unwind and / or shape the foil element at least partially on the contour of the molded part or the carrier part.

[0188] The foil element can be handled particularly gently when being placed in the draping room or especially in the draping frame if the foil element is placed into the open grippers without tension.

[0189] The film element can be reliably transferred to and inserted by the grippers if the grippers are moved into an insertion position before the film element is inserted, in which the film element is placed on a lower gripper jaw element of the respective gripper.

[0190] If the grippers are closed sequentially after the film element has been inserted, the risk of unwanted distortions or tensions on the film element can be reduced.

[0191] A method for forming and / or laminating a film element is described, in which the film element is gripped by grippers to bring it into operative contact with a formed part or a carrier part to be laminated, wherein tensile forces acting between the film element and the grippers are measured and monitored by means of tensile force measuring devices when the film element is brought into operative contact with the carrier part to be laminated.

[0192] Measuring the tensile forces acting between the film element and the grippers allows for a cumulative or, alternatively, particularly effective reduction of the risk of critical film stretching. In particular, this enables the monitoring of undesirable stresses or film stretching on a film element gripped by the grippers. This is especially advantageous for three-dimensional support components.

[0193] A particularly advantageous method variant involves measuring and monitoring the tensile forces acting between the film element and the grippers using tensile force measuring devices when the film element is at least partially unwound and / or applied to the contour of the molded part or the carrier part by means of grippers. This is also particularly advantageous for a three-dimensional carrier part. This allows for particularly good preparation, especially for a subsequent lamination process, even before the film element is laminated onto the carrier part, for example, by means of a vacuum.

[0194] For example, the grippers can be addressed depending on the determined tensile forces and by the control and / or regulating device described above.

[0195] A method for forming and / or laminating a film element is described, in which the film element is gripped by grippers to bring it into operative contact with a molded part or a carrier part to be laminated, wherein the film element gripped by the grippers is heated before and / or during the forming of the film element gripped by the grippers onto the molded part or the carrier part to be laminated.

[0196] This allows the foil element itself to be heated even in a draping or laminating room, especially in a draping frame, even after it has already been gripped by the grippers.

[0197] Therefore, the foil element, and especially the adhesive applied to it, can be optimally prepared for subsequent lamination. In particular, the foil element can be relieved of tension within the draping area or frame.

[0198] For example, suitable heating devices of a heating unit are positioned above and / or below the grippers arranged within a draping room or laminating room.

[0199] Therefore, a suitable method variant provides that a heating device is temporarily arranged above the grippers and / or a heating device below the grippers to heat the foil element gripped by the grippers.

[0200] In particular, such a heating device can also be moved from outside into a draping room or laminating room, especially into a draping frame, if the film element has already been gripped by the grippers.

[0201] A method for forming and / or laminating a film element is described, in which the film element is gripped by grippers to bring it into operative contact with a formed part or a carrier part to be laminated, wherein the method is characterized in that the film element is fed to the grippers by means of a feeding and / or insertion movement and the film element is heated during the feeding and / or insertion movement.

[0202] In other words, this means that the foil element is heated while it is moved towards a draping or laminating area, in particular a draping frame.

[0203] This makes it possible to heat the film element during a delivery movement, whereby corresponding heating devices of a heating unit are preferably moved at the film element speed along the feed and / or insertion path.

[0204] A particular advantage here is that the feed and / or insertion section does not need to be equipped with heating devices along its entire length.

[0205] Furthermore, it is advantageous if, for heating the film element gripped by the grippers, at least one heating device is moved transversely to the feed direction of a lower tool and / or an upper tool, and in particular if it is placed in a draping area defined by a draping frame. This makes it possible to heat the film element almost continuously during or after loading into the feed and / or insertion section and, if necessary, into a draping or laminating area or into the draping frame.

[0206] The existing methods can be further optimized by moving a film element and / or a heating unit relative to grippers and / or a draping frame while a film element is being formed into a molded part or laminated onto a substrate. In this process, a new film element can be heated while, for example, another film element is already being laminated onto a substrate.

[0207] If the foil element is pre-tensioned by means of grippers during and / or after heating, at least partially without stretching and / or at least with reduced stretching and a partial foil elongation of less than 10%, preferably less than 5%, then the foil material needs to absorb lower tensile forces to be pre-stretched.

[0208] The process can be carried out more energy-efficiently if heating elements of a heating device are switched on depending on the size of the foil element.

[0209] The process can be carried out in a more customer-specific manner if the foil element is formed or laminated onto the molded part or the carrier part by means of a first delivery movement, in particular a vertical lifting movement, of a lower tool and / or a delivery movement, in particular a vertical lowering movement, of an upper tool.

[0210] Cumulatively, the carrier part can be advantageously brought close to the foil element by means of an upper tool, in particular with a multi-axial movement.

[0211] If grippers are actively driven when a lower tool is positioned towards the film element gripped by the grippers, in the direction of the lower tool's approach and / or against the direction of the lower tool's approach and / or transversely to the approach direction, film stretching can be avoided particularly effectively, especially if the grippers are moved depending on measured tensile forces.

[0212] Further efficiency gains can be achieved if, after lamination onto the substrate, the film element is optionally folded over at least partially around an edge of the substrate using a gripper. This allows the film element to be folded over within the draping frame.

[0213] Advantageously, this allows the folding to take place at a time when the foil element and / or the adhesive still contains more heat energy than at a later time.

[0214] Since this can achieve not only process-related advantages but also manufacturing-related advantages, such as optical advantages with regard to a fold-over point, the advantages of folding with grippers of the draping frame are also advantageous without the other features of the invention.

[0215] Therefore, it is advantageous if the foil element is at least partially folded around the carrier part within the draping frame.

[0216] The laminated carrier part can be processed further as quickly as possible if the shaped film element or the carrier part laminated with the film element is made available for further processing at at least one downstream processing device by means of a removal device after being released by the grippers.

[0217] Such a processing machine could be, for example, a folding device, a punching device, or the like. This allows the laminated carrier part to be processed further as quickly as possible.

[0218] A method for converting a device for forming and / or laminating a film element is described, in which, for converting the device to a different product, a tool of the device is replaced, wherein the upper tool and / or the lower tool of the tool are replaced, and in which, in addition to the upper and / or lower tool, a draping frame including gripper for gripping the film element is also replaced.

[0219] In this system, the draping frame is part of the tool temporarily installed on the fixture and can therefore be replaced along with the lower and / or upper tool if necessary for a product change. This allows the fixture to be retooled for a new product much faster than with previous solutions where a frame component of a comparable clamping frame was still part of the actual fixture.

[0220] A method for forming and / or laminating a foil element onto a carrier part is described, in which the foil element and the carrier part are positioned relative to each other for forming and / or laminating, wherein the carrier part is moved multiaxially in space, in particular in a draping space and / or a laminating space, for positioning relative to the foil element.

[0221] This allows the foil element and the carrier part, which need to be joined together, to be positioned significantly better and in a more differentiated way relative to each other, especially before lamination, particularly in certain areas and especially within a lamination space or a draping space.

[0222] Therefore, it is advantageous if the support part is approached multiaxially in space, particularly in a draping space and / or a laminating space, for positioning relative to the foil element.

[0223] A further improvement in the handling of the film element and the carrier part relative to each other can be achieved if the film element is gripped by grippers for positioning relative to the carrier part, whereby grippers are moved multiaxially in space, in particular relative to the carrier part.

[0224] The support part can be moved multiaxially in space in different ways, for example by means of a tool table that can be moved translationally along two axes, on which the support part holder is clamped.

[0225] The support element holder, and thus the support element itself, can be moved in space with particular flexibility and positioned relative to the foil element if the support element is held and moved relative to the foil element using a multi-axially movable manipulator.

[0226] In this context, it is advantageous if a carrier part holder of a device for laminating a foil element onto a carrier part is moved multiaxially in space, in particular in a draping room and / or a laminating room.

[0227] A method for manufacturing a laminated component from a film element and a carrier part is described, in which the film element is laminated onto the carrier part using a laminating device, and in which the laminated component is subsequently removed from the laminating device and made available for further processing, wherein the carrier part or the laminated component is held on its B-side for removal from the laminating device by means of a removal device.

[0228] By holding the carrier part or the laminated component exclusively on its B-side, the risk of damage to the A-side is significantly reduced and can ideally be completely eliminated.

[0229] In particular, a laminated component has an A-side (good side) and a B-side (bad side).

[0230] The B-side is the back of the laminated component or carrier part, which is no longer visible when the laminated component is installed and is therefore not fully laminated.

[0231] The A-side, on the other hand, defines the visible area when the laminated component is installed.

[0232] Therefore, it is advantageous to grip and hold the laminated component exclusively on its B-side during its manufacturing process.

[0233] Thus, a preferred method variant provides that the carrier part or the laminated component is removed from the lamination device by means of the removal device, held at its B-side, and transferred to a subsequent processing station while continuously held at its B-side, thereby better protecting the A-side.

[0234] One specific method variant advantageously provides that the carrier part or the laminated component, held on its B-side, is continuously held by the removal device during removal from the lamination station, during transfer from the lamination device to a downstream processing station, in particular to a downstream folding device, and / or during insertion into a processing position at the downstream processing station, in particular into a folding processing position at the downstream folding device.

[0235] The handling process of the carrier part up to the laminated component can be significantly simplified if the carrier part, from its picking up from a staging position, in particular from a carrier part magazine, to a draping position and a laminating position of the laminating device as well as to a processing position of a downstream processing station, is only gripped and held once by the removal device, specifically on its B-side.

[0236] Therefore, with regard to simple and gentle handling of the carrier part or the laminated component, it is advantageous if the carrier part is held on its B-side during the lamination of the foil element onto the carrier part.

[0237] All process steps offer the advantage that a large number of previously necessary transfer steps can be dispensed with.

[0238] Advantageously, the removal device is simultaneously the insertion device, with these two devices forming a common transfer device or transfer station, as already described above. Advantageously, this transfer station includes a robotic unit with a multi-axially movable manipulator.

[0239] The present invention can prevent critical film material stretching and significantly reduce film consumption. Furthermore, the use of highly precise film element blanks enables a previously unattainable level of automation in devices for forming and / or laminating a film element and in systems for manufacturing a formed and / or laminated component.

[0240] Furthermore, film material consumption can be significantly reduced if the film element is stretched more in designated areas of a laminated component that will not be visible later than in designated visible areas of the laminated component.

[0241] It should also be mentioned that the present invention is applicable to almost all common laminating processes, such as press laminating, vacuum laminating, in-mould graining (IMG) processes or the like.

[0242] Therefore, it is advantageous if the foil element, after being unwound or placed on the carrier part, is formed onto the molded part or the carrier part to be laminated by applying a differential pressure.

[0243] In the context of the invention, the term "differential pressure" describes various pressure applications to the components involved, in particular the foil element, for example by means of a negative pressure or vacuum, whereby the foil element can be brought into effective contact with the carrier part exclusively or additionally.

[0244] Alternatively or cumulatively, appropriate pressure can also be applied by means of pressing devices or the like.

[0245] Therefore, the invention disclosed here, with appropriate embodiment of the invention or of the constructive and procedural elements, encompasses not only vacuum lamination, but also press lamination, or the like.

[0246] This means that, in particular, the present device, as a differential pressure generating device, may include a vacuum device with a vacuum tool and / or a pressing device with a pressing tool.

[0247] The invention proposed here allows for a particularly flexible shaping or laminating of a foil element, as the invention offers virtually unlimited adjustment and process possibilities.

[0248] In addition, further features, effects and advantages are explained with reference to the attached drawing and the following description, in which a draping frame, a gripper, devices and systems of the invention are shown and described by way of example.

[0249] Components which are at least essentially identical in their function in the individual figures may be marked with the same reference symbols, although the components do not have to be numbered and explained in all figures.

[0250] The drawing shows: Figure 1 schematically shows a top view of a draping frame with a total of ten grippers for gripping a foil element, each gripper having seven degrees of freedom relative to the draping frame with respect to its gripping jaw elements; Figure 2 schematically shows a perspective view of one of the grippers from the Figure 1 Figure 3 schematically shows an exemplary representation of the development of a film element on a substrate to be laminated; Figure 4 schematically shows a view of a first test-laminated component with a film elongation of less than 20%; Figure 5 schematically shows a detail view of the first component from the Figure 4Figure 6 schematically shows a view of a second test-laminated component with a film elongation of less than 20%; Figure 7 schematically shows a detailed view of the second component from the Figure 6 Figure 8 schematically shows a view of a third test-laminated component with a film elongation of less than 20%; Figure 9 schematically shows a detailed view of the third component from the Figure 8 Figure 10 schematically shows a first perspective view of a first device for forming and / or laminating a film element with a draping frame, in which the film element is placed in a loading position on a lower heating device of a moving heating unit; Figure 11 schematically shows a second perspective view of the first device from the Figure 10 with the heating unit that moves along with the foil element; Figure 12 schematically shows a third perspective view of the first device from the Figures 10 and 11with the heating unit installed, which is now aligned with the draping frame; Figure 13 schematically shows a fourth perspective view of the first device from the Figures 10 to 12 with an upwardly moving lower heating device for transferring the foil element to grippers of the draping frame; Figure 14 schematically shows a fifth perspective view of the first device from the Figures 10 to 13 with heating unit retracting into the loading position; Figure 15 schematically shows a sixth perspective view of the first device from the Figures 10 to 14 with a draping frame lowered towards a lower tool and an upper tool arranged above the draping frame on a robot with a carrier part holder which holds the carrier part; Figure 16 schematically a seventh perspective view of the first device from the Figures 10 to 15with a carrier part lowered onto the foil element by means of the robot; Figure 17 schematically shows an eighth perspective view of the first device from the Figures 10 to 16 in a lamination position; Figure 18 schematically shows a ninth perspective view of the first device from the Figures 10 to 17 after the laminating process, wherein the laminated carrier part is transferred by means of the robot to a device for trimming the laminated carrier part; Figure 19 schematically a tenth perspective view of the first device from the Figures 10 to 18with the heating unit that moves along with the foil element, in which the robot picks up a new carrier part; Figure 20 schematically shows a perspective view of a first system for manufacturing a formed and / or laminated component with a device for forming and / or laminating a foil element onto a carrier part and with an inline downstream punching and folding station as well as an inline downstream discharge station; Figure 21 schematically shows a perspective view of a second system for manufacturing a formed and / or laminated component with a device for forming and / or laminating a foil element onto a carrier part and with an inline downstream punching and folding device;Figure 22 schematically shows a perspective view of a third system for manufacturing a formed and / or laminated component with a device for forming and / or laminating a foil element onto a carrier part, comprising two heating units for cycle time reduction, and with an inline downstream punching and folding device; Figure 23 schematically shows a perspective view of a double system for manufacturing a formed and / or laminated component with two devices for forming and / or laminating a foil element onto a carrier part and with two inline downstream punching and folding devices; Figure 24 schematically shows a top view of the system shown in the figure. Figure 23Figure 25 schematically shows a perspective view of another system for manufacturing a formed and / or laminated component with a device for forming and / or laminating a film element onto a carrier part, with an upstream inline adhesive application station and an downstream inline punching and folding station; designed as a double system; Figure 26 schematically shows a side view of a device for forming and / or laminating a film element with a draping frame, wherein the device is exemplarily equipped with a device for the automated feeding of film elements; Figure 27 schematically shows a top view of a pre-assembled film element; Figure 28 schematically shows a top view of an optimized cutting pattern of a plurality of film elements; Figure 29 schematically shows a top view of a first combined laminating / folding device with folding slides arranged on a draping frame;Figure 30 schematically shows a top view of a second combined laminating / folding device with folding slides arranged on grippers; Figure 31 schematically shows a top view of a fourth combined laminating / folding device with folding slides arranged on a laminating station; Figure 32 schematically shows a top view of a third combined laminating / folding device with folding slides arranged on a further frame part; Figure 33 schematically shows a top view of an alternative gripper comprising a gripper chassis and a gripper head part with a rotary drive comprising a worm gear; and Figure 34 schematically shows a partial perspective view of a device for forming and / or laminating a film element onto a carrier part with segmented die-cutting segments and sealing slide segments.

[0251] According to the presentation after the Figure 1An exemplary draping frame 1 of the invention is shown, which carries a plurality of motor-driven grippers 2.

[0252] The draping frame 1 has a frame part 3 which is enclosed by a housing 8 at least on its four side wall areas 4, 5, 6 and 7.

[0253] The draping frame 1 is at least partially open on the underside 9 and on the top side 10.

[0254] More precisely, the housing 8 of the draping frame 1 is open above and below a centrally arranged draping space 15 of the draping frame 1, with regard to the illustration according to the Figure 1 the upper side of the housing is removed to reveal the frame part 3 and the grippers 2 which are movably mounted on it.

[0255] The frame part 3 of the draping frame 1 is characterized by several longitudinal crossbeams 16 (numbered here only as examples) and transverse crossbeams 17 (numbered only as examples), on which the grippers 2 are held within the draping frame 1.

[0256] In any case, the individual grippers 2 are each mounted on the draping frame 1 or in the draping space 15 in such a way that the grippers 2 have a total of at least seven degrees of freedom, whereby a foil element 20 (see example) Figure 3 ) can be gripped in an extremely differentiated way and draped and guided within the draping space 15.

[0257] The draping room 15 is equipped with heating devices that can be moved inside (not shown here, see for example from Figure 10 ) can be heated from both the underside 9 and the top 10.

[0258] In principle, such a heating device can be inserted into the draping frame 1 or its draping space 15 from any side area 4, 5, 6 or 7, but the front side area 6 or the rear side area 7 are preferred for this purpose.

[0259] According to the presentation after the Figure 2 An example of a gripper 2 of the draping frame 1 is shown, wherein the gripper 2 has a gripper chassis 22, on the front 23 of which a gripper head part 24 is arranged, on which the actual gripper jaw elements 25 and 26 of the gripper 2 are mounted.

[0260] While the gripper chassis 22 is mounted on the draping frame 1 with a total of 6 degrees of freedom, the gripper head part 25 has at least one further degree of freedom compared to the gripper chassis 22, so that in particular the gripper jaw elements 26 and 27 in the draping space 15 have at least 7 degrees of freedom.

[0261] It is understood that, given the design of the construction, other combinations of degrees of freedom between gripper chassis 22 and draping frame 1 or between gripper head part 25 and gripper chassis 22 are also possible.

[0262] At least in this embodiment, the gripper head part 25 of the gripper 2 is adjustable three-dimensionally relative to the gripper chassis 22 of the gripper 2, wherein the degrees of freedom achieved on the gripper head part 25 are different from the degrees of freedom of the gripper chassis.

[0263] Another special feature of the gripper 2 is that the gripper 2 has temperature-controlled gripper jaw elements 26 and 27, so that these gripper jaw elements 26 and 27 can adapt to special conditions or requirements with regard to a film element 20 to be gripped by means of activatable temperature control agents 28.

[0264] For example, it is extremely advantageous if at least one of the gripper jaw elements 26 or 27 can be cooled.

[0265] A cooled gripper jaw element 26 or 27 is particularly advantageous when the film element 20 is used for laminating onto a carrier part 30 (see, for example, Figure 1). Figure 3 ) is coated with adhesive, as the cooled gripper jaw element 26 or 27 can form a less intensive bond with the adhesive, resulting in significantly less contamination of the cooled gripper jaw element 26 or 27 by the adhesive.

[0266] In this embodiment, the lower gripper jaw element 26 is particularly temperature-controlled in the sense of cooling, since only this adhesive-coated side of the film element 20 comes into operative contact when this film element 20 is inserted into the gripper 2.

[0267] Furthermore, the gripper 2 is equipped with tensile force measuring devices 29, which are arranged on the gripper head part 25. Using the tensile force measuring devices 29, tensile forces acting between the film part 20 and the gripper 2 can be detected and measured. Depending on the determined tensile forces, the gripper 2 can then be moved within the draping space 15 and relative to the film element 20 in order to avoid critical film stretching in accordance with the invention.

[0268] According to the presentation after the Figure 3 The figure shows by way of example how it is possible with the multiaxially movable gripper 2 in space, especially in areas of the carrier part 30 without undercuts, to unwind the foil element 20 only on the contour 31 of the carrier part 30.

[0269] Preferably, the film element 20 is even unwound completely without tensile force onto the contour 31 of the carrier part 30, so that, on the one hand, the film element 20 can be laminated in a particularly material- and surface-friendly manner. On the other hand, the film element 20 can be applied to the carrier part 30 to be laminated almost without stretching or at least with reduced stretching by the grippers 2 with their seven degrees of freedom.

[0270] According to the simplified representation according to the Figure 3 In this process, the gripper head part 25 of the gripper and, in particular, the gripper jaw elements 26 and 27 pass through an approach curve 32 in order to unwind the foil element 20 in the simplest case by moving the gripper 2 in the Z and Y directions onto the carrier part in accordance with the invention without tensile forces.

[0271] It is particularly advantageous if the foil element 20 can be brought into effective contact with the carrier part 25 to be laminated, at least by means of some of the grippers 2, without stretching or elongation of the foil element 20, so that the foil element 20 can only stretch very slightly, if at all, when being attached to the carrier part 30 to be laminated with the grippers 2, so that even after the foil element 20 has been laminated onto the carrier part 30, there is hardly any distortion on its visible surface.

[0272] This is particularly advantageous for sensitive, visible surfaces 33 or for surfaces which have a structure.

[0273] According to the descriptions, the following are required for this purpose: Figures 4 to 9 Three examples of laminated carrier parts 30 from the automotive sector are shown, on whose visible surfaces 33 a grid 35 is applied as an example.

[0274] The grid 35 clearly shows that, despite bends and partially existing freeform contours, all automotive components 37, 38 and 39 exhibit hardly any significant distortions along the grid 35. Rather, the film stretching is limited to 10% to 15% in some areas.

[0275] A first embodiment of an advantageous device 50 for forming and / or laminating a foil element 20 onto a carrier part 30 is shown by way of example in the illustrations according to the Figures 10 to 19 shown and explained here, using the individual Figures 10 to 19 Different process steps are shown by way of example on device 50.

[0276] The basic concept of device 50 is also relevant to the other embodiments. Therefore, device 50 is described as an example for the other embodiments as well, in order to avoid repetition.

[0277] The device 50 is characterized primarily by a frame part 3 of a laminating tool 51, which in this embodiment comprises a draping frame 1 with a plurality of motor-driven grippers 2.

[0278] The device 50 is further characterized by additional components of the laminating tool 51, which essentially consists of a lower tool 52 and an upper tool 53 (see in particular also from Figure 15 ) include.

[0279] The draping frame 1 and thus also the grippers 2 are mounted in a frame 56 of the device 50 in a height-adjustable manner by means of a traversing mechanism 55, so that the entire draping frame 1 is mounted on the frame 56 in a height-adjustable manner along a vertical displacement axis 57 of the device 50.

[0280] The lower tool 52 is placed below the draping frame 1 on a base part 58 of the frame 56, the lower tool 52 comprising one or more mold shell parts 59, which in turn are arranged on a base 60 of the base part 58.

[0281] The upper tool 53, on the other hand, comprises a carrier part holder 63, by means of which one or more carrier parts 30 to be covered can be automatically inserted, in particular into the draping frame 1 of the device 50.

[0282] To automate the insertion of the respective carrier part 30, a corresponding insertion device 65 is provided on the device 50, which in this embodiment comprises a robot device 70 with a multi-axial movable manipulator 71.

[0283] This robot device 70 with its multi-axial movable manipulator 71 serves not only to insert the carrier part 30 to be laminated into the device 50, in particular into the draping area 15 of the draping frame 1, but also to remove the finished laminated component 37, 38 or 39 (see Figures 4 to 9), so that the robot device 70 also represents a removal device 75 on the device 50.

[0284] Overall, the robot device 70 can be regarded as a common transfer station 78 for the device 50 due to its dual function as a insertion device 65 on the one hand and as a removal device 75 on the other.

[0285] Furthermore, the device 50 has a feeding and / or insertion device 80, by means of which one or more film elements 20 can be fed into the draping frame 1, in such a way that the film element 20 can be inserted immediately into open grippers 2, in particular onto the lower gripper jaw elements 26 of the open grippers 2.

[0286] The feeding and / or insertion device 80 has a feeding and / or insertion section 81 along which the respective film element 20 can be conveyed from a loading position 82 into the draping room 15.

[0287] The feed and / or insertion section 80 or its feed and / or insertion section 81 runs transversely to the vertical displacement axis 57 of the device 50.

[0288] Conversely, this means that the draping frame 1 is arranged to be displaceable transversely to this feed and / or insertion section 81 by means of the traversing mechanism 55.

[0289] In this first embodiment, the feeding and / or insertion device 80 is characterized in particular by at least one movable heating unit 85 for heating the respective foil element 20 outside the draping space 15 of the draping frame 1, which has two heating devices 86 and 87.

[0290] In this case, the heating unit 85 is integrated into the feeding and / or insertion device 80 in such a way that the heating unit 85 together with the respective film element 20 can be moved continuously, for example, which is moved along the feeding and / or insertion path 81 in the direction of the draping space 15 of the draping frame 1.

[0291] In this embodiment, the upper heating device 86 and the lower heating device 87 of the heating unit 85 are moved together with the foil element 20 along the feed and / or insertion path 81, so that the respective foil element 20 can be continuously heated from both above and below.

[0292] In particular, the lower heating device 87 is designed in such a way that the respective foil element 20 can be transported from the loading position 82 to the draping frame 1 of the device 50 by means of this lower heating device 87.

[0293] According to the presentation after the Figure 10 A foil element 20 is already placed on the lower heating device 87 and is on its way to the draping frame 1 from the loading position 82 with the help of the movable heating unit 85.

[0294] While the foil element 20 is heated on both sides by means of the upper heating device 86 and the lower heating device 87, it is simultaneously transported along the feed and / or insertion section 81 with the heating devices 86 and 87.

[0295] The draping frame 1 is located in a feed position 89, in which the film element 20 transported by means of the feed and / or insertion device 80 can be transported into the draping room 15.

[0296] In this case, the robot device 70 is still in a starting position 90, in which at least one carrier part 30 to be covered is taken into the carrier part holder 63 from a carrier part magazine 100.

[0297] According to the presentation after the Figure 11 The heating unit 85 with the foil element 20 is located shortly before being fed or inserted into the draping frame 1.

[0298] According to the presentation after the Figure 12 The heating unit 85, together with the foil element 20 heated by it, is completely retracted into the device 50.

[0299] According to the presentation after the Figure 13 The lower heating device 87 moves upwards towards the draping frame 1, so that in this insertion position 103 the heated foil element 20 can be transferred to the grippers 2 of the draping frame 1 or inserted into these grippers 2.

[0300] As soon as an adjustable target temperature is reached at the foil element 20 or in the draping chamber 15, the heating unit 85 with its heating devices 86 and 87 returns to the loading position 82 in order to receive one or more new foil elements 20.

[0301] According to the presentation after the Figure 15The draping frame 1 with the foil element 20 draped in it now moves downwards towards the lower tool 52, whereby in the meantime the carrier part 30 located on the carrier part holder 63 is positioned above the draping area 15 of the draping frame 1 by means of the manipulator 71 of the robot device 70.

[0302] According to the presentation after the Figure 16 The carrier part 30 to be covered is now further brought to the foil element 20 by means of the manipulator 71 of the robot device 70, so that according to the illustration after the Figure 17 Ultimately, the actual vacuum lamination process is carried out on the device 50.

[0303] After successful lamination of the carrier part 30 with the film element 20, the robotic device 70 removes the finished laminated component 37, 38 or 39 from the draping frame 1 and places it in a preferably cooled trimming station 104 (only shown as an example in Figure 1). Figure 18(indicated), wherein the robot device 70 is in a provision position 105, in which it provides the finished laminated component 37, 38 or 39 for further processing or the like on the device 50.

[0304] According to the presentation after the Figure 19 The manipulator 71 of the robot device 70 moves the carrier part holder 63 back towards the carrier part magazine 102 in order to pick up carrier part 30 to be covered again.

[0305] At the same time, for a new laminating process, a new film element 20 is transported along the feed and / or insertion path 81 towards the draping frame 1 by means of the feed and / or insertion device 80, which is simultaneously heated on both sides by means of the heating unit 85.

[0306] According to the presentation after the Figure 20A first embodiment of the plant is shown, comprising a first plant 107 for manufacturing a formed and / or laminated component 37, 38 or 39, wherein the first plant 107 has an alternative, second device 108 for forming and / or laminating a foil element 20 integrated. More precisely, the second device 108 is integrated into the processing line 110 of the first plant 107, wherein a punching and folding station 114 (not shown) is connected inline to the second device 108 in the processing line 110.

[0307] The processing line 110 runs from an input side 111 of the first system 107 to an output side 112 of the first system 107.

[0308] The second device 108 has essentially the same structure as the previously described device 50 from the Figures 10 to 19, and the device 108 accordingly comprises the draping frame 1 with the motor-driven grippers 2 movably arranged thereon for gripping the film element 20, the feeding and / or insertion device 80 and the removal device 85 with the robot device 70 and the carrier part magazine 100.

[0309] In this first embodiment of the system, however, the device 108 comprises two heating units 85 on its feed and / or insertion device 80, which advantageously reduces the cycle times on the alternative device 108 or on the system 107. For example, the cycle times can be less than 40 seconds.

[0310] In any case, the foil elements 20 are alternately inserted from the respective heating unit 85 into the draping frame 1.

[0311] After the respective foil element 20 has been laminated onto the carrier part 30, the respective finished laminated component 37, 38 or 39 (see Figures 4 to 9 ) with the robot unit 70 to the inline downstream punching and folding station 114 and stored there for further processing.

[0312] Except for the two heating units 85, the alternative device 108 otherwise has the same structure as the one in the Figures 10 to 19 The described device 50 is described, so that with regard to a more detailed construction and operation of the alternative device 108 reference is made to the description of device 50.

[0313] In the Figure 21 The second embodiment of the plant shown is a second plant 116 for manufacturing a molded part or laminated component 37, 38 or 39 with a processing line 110.

[0314] In this processing line 110, a third device 117 for forming and / or laminating a foil element 20 and a punching and folding station 114 downstream of this device 117 are arranged, at which an additional discharge station 119 for discharging finished laminated components 37, 38 and 39 is arranged inline with the processing line 110 (see figure). Figures 4 to 9 ) with a discharge table 120. A higher degree of automation is achieved at the second system 116 by means of the discharge station 119.

[0315] The third device 117 also has essentially the same structure as the previously described device 50 from the Figures 10 to 19, and the third device 107 accordingly comprises the draping frame 1 with the motor-driven grippers 2 movably arranged thereon for gripping the film element 20, the feeding and / or insertion device 80 and the removal device 85 with the robot device 70 and the carrier part magazine 100.

[0316] A third example of a plant design shows the Figure 22 , in which a third system 123 in its processing line 110 has two feeding and / or insertion devices 80 of a fourth device 124 for forming and / or laminating the film element 20. The fourth device 124 accordingly also has two heating units 85, so that here too an advantageous reduction in cycle time can be achieved.

[0317] This fourth device 124 has essentially the same structure as the previously described device 50 from the Figures 10 to 19The fourth device 124 comprises the draping frame 1 with the motor-driven grippers 2 movably arranged thereon for gripping the film element 20, the feeding and / or insertion device 80 in duplicate, the removal device 85 with the robot device 70, and the carrier part magazine 100.

[0318] The fourth device 124 is then followed inline by the punching and folding station 114 and the discharge station 119 for discharging finished laminated components 37, 38 and 39 respectively (see figure). Figures 4 to 9 ).

[0319] According to the presentation after the Figure 23 is a fourth embodiment of a double plant 126 for manufacturing a molded part or a laminated component with two processing lines 110, wherein all machines are accordingly present twice on the double plant 126.

[0320] The double system 126 has two fifth devices 127, each fifth device 127 comprising the draping frame 1 with the motor-driven grippers 2 movably arranged on it for gripping the film element 20, the feeding and / or insertion device 80, the removal device 85 with the robot device 70, and the carrier part magazine 100.

[0321] Furthermore, at the double system 126, the fifth devices 127 inline of the processing lines 110 are followed by two punching and folding stations 114 and two discharge stations 119, which allows the output rate to be doubled in the double system 126.

[0322] According to the representations according to the Figures 24 and 25 Another double system 130 for manufacturing a molded part or a laminated component 37, 38 or 39 is shown.

[0323] This additional double system 130 also has two processing lines 110, but differs from the first double system 126 from the Figure 23 On the entrance side 111 of the further double system 130, there is also an adhesive application station 131.

[0324] This adhesive application station 131 has two adhesive application lines 132 due to the two existing processing lines 110, with these two adhesive application lines 132 being operated by a common adhesive application unit 133. For this purpose, the adhesive application unit 133 is equipped with an adhesive application robot 134 and a corresponding application manipulator 135.

[0325] The adhesive application device 133 with its adhesive application robot 134 is arranged between the two adhesive application lines 132 of the adhesive application station 131, so that both adhesive application lines 132 can be easily reached and operated by the adhesive application manipulator 135.

[0326] Downstream of the adhesive application station 131, according to the two processing lines 110, there are also two sixth devices 136 for forming and / or laminating a film element 20. Each sixth device 136 again includes the feeding and / or insertion device 80 for feeding and / or inserting the film element 20 into the draping frame 1, with the carrier part magazine 100 being assigned laterally to each sixth device 136. Furthermore, each sixth device 136 also includes the removal device 75 in the form of the robot device 70.

[0327] The punching and folding station 114 is again connected downstream of the respective sixth device 136.

[0328] On the output side of the further double system 130, the discharge station 119 is located again at each processing line.

[0329] According to the presentation after the Figure 26A fully automated system 140 for manufacturing a molded part or a laminated component 37, 38 or 39 is shown, comprising a processing line 110 and a seventh device 141 for forming and / or laminating a molded element 20.

[0330] This seventh device 141 again has essentially the same structure as the previously described device 50 from the Figures 10 to 19 .

[0331] Accordingly, the seventh device 141 comprises the draping frame 1 with the motor-driven grippers 2 movably arranged on it for gripping the film element 20, the feeding and / or insertion device 80 and the removal device 85 with the robot device 70 and the carrier part magazine 100.

[0332] The fully automated system 140 has an additional loading station 142 on its input side 111 for loading the seventh device 141 for forming and / or laminating the forming element 20.

[0333] The loading station 141 has a gripping device 143 for picking up film elements 20 and placing these film elements 20 on the feed and / or insertion line 81.

[0334] By means of this feeding station 141, film elements 20 can be transferred to the feeding and / or insertion section 81 of the feeding and / or insertion device 80 of the seventh device 141 largely without operating personnel.

[0335] This allows the fully automated system 140 to operate with an even higher degree of automation.

[0336] It is understood that such a feeding station 141 can also be installed upstream of all the devices 50, 108, 117, 124, 127 and 136 described above, as well as the related systems 111, 116, 123, 126 and 130, in order to save on operating personnel there as well.

[0337] However, this feeding station 142 is shown as an example only with regard to the fully automated system 140.

[0338] According to the Figure 27 A pre-assembled foil element 20, as it can be used in the present invention, is schematically shown, while according to the Figure 28 An optimized cutting pattern 150 with a large number of designated foil elements 20 is shown.

[0339] These designated foil elements 20 can be placed particularly close to each other and therefore with very little residual foil grid material 151 between them on the optimized cutting pattern 150, since the foil elements 20 cut from this can only be gripped reliably by the grippers 2 or the draping frame 1 according to the invention.

[0340] This is due, among other things, to the fact that the grippers 2 according to the invention can be moved in the draping space 15 with seven degrees of freedom due to the high multi-axial freedom of movement.

[0341] According to the representations according to the Figures 29 to 32 The laminating device is shown with a plurality of folding means 160 or folding slides, wherein the folding means 160 are provided on a draping space 15 of the device 1.

[0342] In the Figure 29 In the illustrated embodiment, the folding means 160 are attached to the draping frame 1 next to the grippers 2.

[0343] In the Figure 30 In the illustrated embodiment, the folding means 160 are arranged on the grippers 2.

[0344] In the Figure 31 In the illustrated embodiment, the folding means 160 are arranged on a frame (not separately numbered here) of the laminating device.

[0345] And at the one in the Figure 32 In the illustrated embodiment, the folding means 160 are located on the frame part 3 of the laminating device. Figure 33 An alternative gripper 170 is shown, which is essentially the same as gripper 2 from the Figure 2 corresponds.

[0346] The gripper 170 has a gripper chassis 171, on the front 172 or end face 173 of which a gripper head part 174 is arranged, on which the actual gripper jaw elements 175 and 176 of the gripper 170 are mounted, whereby in the top view only the upper gripper jaw element 176 can be seen.

[0347] The gripper 170 is oriented with its gripper head part 174 towards a draping room 15.

[0348] The gripper head part 174 has one degree of freedom 177 and another degree of freedom 178 compared to the gripper chassis 171.

[0349] The degree of freedom 177 results from the axis of rotation 180 of the rotary drive 181, which has a worm gear 182. Therefore, the gripper jaw elements 175 and 176 on the gripper head 174 can be rotated about the axis of rotation 180 relative to the gripper chassis 171 by a motor and automatically. The axis of rotation 180 is perpendicular to the end face 173, so it is a horizontal axis (not further numbered).

[0350] The additional degree of freedom 178 results around the vertical axis 185, about which the gripper jaw elements 175 and 176 can be manually pivoted.

[0351] Coolant connections 187 can also be clearly seen on the backs 188 of the gripper jaw elements 175 and 176, to which a temperature control device can be connected in order to allow coolant to flow through the gripper jaw elements 175 and 176.

[0352] According to the presentation after the Figure 34 A further device 190 for forming and / or laminating a film element 20 onto a carrier part 30 is described. The device 190 comprises a plurality of grippers 2 and 170 (not shown) and a carrier part receptacle 63 (also not shown), which is attached to a manipulator 71 (not shown, upper tool 53) of a laminating tool 51 (also not shown). The device 190 has a draping chamber 15 or laminating chamber 15 in which a lower tool 52 is arranged. In this embodiment, the lower tool 52 may have a molding shell part 59 (not shown).

[0353] Advantageously, the further device 190 or its lower tool 52 has both punching knife segments 191 (numbered here only by way of example) of a punching device 192 and sealing slide segments 194 of a sealing device 195 of a pressure differential device not shown further.

[0354] The cutting blade segments 191 and the sealing slide segments 194 are arranged side by side, with all cutting blade segments 191 and sealing slide segments 194 being individually controllable and movable, which on the one hand allows cutting forces on the further device 190 to be advantageously reduced (cutting blade segments 191) and on the other hand allows a sealing device 195 to be positioned in a more differentiated manner and closer to the carrier part 30, which overall saves a not insignificant amount of film material. List of reference symbols used

[0355] 1 Draping frame 2 Motor-driven grippers 3 Frame part 4 Left side area 5 Right side area 6 Front side area 7 Rear side area 8 Housing 9 Bottom 10 Top 15 Draping area or laminating area 16 Longitudinal crossbeams 17 Crossbeams 20 Film element 22 Gripper chassis 24 Front 25 Gripper head part 26 Lower gripper jaw element 27 Upper gripper jaw element 28 Temperature control device 29 Tensile force measuring device 30 Support part 31 Contour 32 Approach curve 33 Visible surface 35 Grid 37 First automotive component or laminated component 38 Second automotive component or laminated component 39 Third automotive component or laminated component 50 Device 51 Laminating tool 52 Lower tool 53 Upper tool 55 Traverse mechanism 56 Frame 57 Vertical displacement axis 58 Base part 59 Mold shell part(s) 60 Base 63 Support part holder(s) 65 Insertion device 70 Robot device 71 Manipulator 75 Removal device 78 Transfer station 80 Feeding and / orInsertion device 81 Feed and / or insertion section 82 Loading position 85 Heating unit 86 Upper heating device 87 Lower heating device 89 Feed position 90 Start position 100 Carrier part magazine 103 Insertion position 104 Trimming station 105 Staging position 107 First machine 108 Second machine 110 Processing line 111 Infeed side 112 Outfeed side 114 Punching and folding station 116 Second machine 117 Third machine 119 Discharge station 120 Discharge table 123 Third machine 124 Fourth machine 126 First double machine 127 Fifth machines 130 Further double machine 131 Glue application station 132 Glue application sections 133 Glue application device 134 Glue application robot 135 Adhesive application manipulator 136 Sixth device 140 Fully automated system 141 Seventh device 142 Feeding station 143 Gripping device 150 Cutting pattern 151 Residual film grid 160 Folding device or folding slider 170 Alternative gripper 171 Gripper chassis 172 Front 173 End 174 Gripper head 175 LowerGripper jaw element 176 upper gripper jaw element 177 degree of freedom 178 further degree of freedom 180 rotary axis or horizontal axis 181 rotary drive 182 worm gear 185 vertical axis 187 coolant connections or connection interfaces 188 rear sides 190 further device 191 punching knife segments 192 punching device 194 sealing slide segments 195 sealing device

Claims

1. Gripper (2; 170) for an apparatus (50; 108; 117; 124; 127; 136; 141; 190) for forming and / or laminating a film element (20) for a draping frame (1), comprising a gripper chassis (22; 171) and comprising at least two gripper jaw elements (26, 27; 175, 176) which are opposite one another and movable relative to one another for gripping a film element (20), wherein the gripper jaw elements (26, 27; 175, 176) are arranged on a gripper head part (25; 174) of the gripper (2; 170), and wherein the gripper head part (25; 174) of the gripper (2; 170) is mounted so as to be movable relative to the gripper chassis (22; 171) with at least one degree of freedom, wherein the gripper chassis (22; 171) itself is mounted relative to the draping frame (1) with at least six further degrees of freedom, so that the gripper (2; 170) overall has at least 7 degrees of freedom.

2. Gripper (2; 170) according to claim 1, characterized in that the gripper head part (25; 174) of the gripper (2; 170) is movable with respect to at least one spatial axis which is different from spatial axes with respect to which the gripper chassis (22; 171) is movable.

3. Gripper (2; 170) according to claim 1 or 2, characterized in that the gripper head part (25; 174) of the gripper (2; 170) is rotatable about a rotational axis (180) by means of a rotary drive (181), wherein in particular the rotary drive (181) comprises a worm gear (182).

4. Gripper (2; 170) according to one of claims 1 to 3, characterized in that a rotational axis (180) of the gripper head part (25; 174) is arranged perpendicular to a front face (173) of the gripper chassis (22; 171), wherein in particular the rotational axis (180) is a horizontal axis.

5. Draping frame (1) for forming and / or laminating a film element (20) comprising a draping space (15) and comprising a plurality of motor-driven grippers (2; 170) for gripping the film element (20), wherein grippers (2; 170) of the draping frame (1) at least partially have at least seven degrees of freedom.

6. Draping frame (1) according to claim 5, characterized in that the gripper (2; 170) comprises a gripper chassis (22; 171), which is arranged so as to be multi-axially adjustable relative to the draping frame (1) with at least six degrees of freedom, and the gripper (2; 170) comprises a gripper head part (25; 174), which has at least one further degree of freedom which is different from the degrees of freedom of the gripper chassis (22; 171).

7. Apparatus (50; 108; 117; 124; 127; 136; 141; 190) for forming and / or laminating a film element (20) comprising a plurality of grippers (2; 170) and comprising a forming tool or a laminating tool (51), in which the forming tool or the laminating tool (51) comprises a lower tool (52) and an upper tool (53), characterized in that it comprises grippers (2; 170) according to one of claims 1 to 4 or a draping frame (1) according to one of claims 5 and 6.