Rollers fold device using a robot manipulator is equipped with a force sensor.

摘要

A rollers fold device is designed for this purpose, a position error between a robotic manipulator and a workpiece to be corrected, and a prefold - and / or fold process with an appropriate to carry out the pressing force. The rollers fold device has a position determination part, which is designed for this purpose, an actual position of a roller, which at one front end of the robot manipulator is attached; a force sensor which is between a shank region of the robot manipulator and of the roller is disposed; and a control unit, which is arranged to set the position of the roller with the use of an output of the position determination part and an output of the force sensor to control, so that the pressing force which, by the roller onto a form is applied, has a predetermined value.