CN101484255B

CN101484255B - Device for joining two sheet-metal panels by crimping

Info

Publication number: CN101484255B
Application number: CN2007800250611A
Authority: CN
Inventors: P·德努阿尔
Original assignee: Peugeot Citroen Automobiles SA
Current assignee: PSA Automobiles SA
Priority date: 2006-07-03
Filing date: 2007-07-02
Publication date: 2011-03-30
Anticipated expiration: 2027-07-02
Also published as: EP2035164B1; ATE442923T1; FR2903030B1; CN101484255A; DE602007002498D1; EP2035164A1; FR2903030A1; ES2330976T3; BRPI0711244A2; WO2008020137A1

Abstract

The invention relates to a device for joining a first sheet-metal panel to a second sheet-metal panel by folding an edge of the first to an edge of the second. The device comprises a mobile arm (3, 7) carrying a tool (1, 2) for applying a force to the edge of the first panel in order both to fold it towards the edge of the second panel and to place it on the edge of the second panel. The tool (1, 2) comprises at least one pre-crimping roller (1) and a crimping roller (2), these being mounted one behind the other in the direction of movement of the tool (1, 2), on a support (3), and the axes of the two rollers (1, 2) are at an angle to each other. The invention also relates to a joining method using such a device.

Description

By inlaying the device of assembling two block plates

Invention field

The present invention relates to by inlaying the device of assembling two block plates, and by inlaying operation in advance and inlaying the operation method of inlaying.

Background technology

With first block of plate while be folded in second block of plate on after, utilize method for embedding to assemble this two block plate.

Realize inlaying operation with lever arm of the robot that has the instrument of inlaying, the described instrument of inlaying comprises a roller or knurled wheel: thereby lever arm moves along the limit that needs are inlayed, and utilizes this limit of pair of rollers to apply active force.

In order to obtain good folding effect, must operate at twice even operate for three times and realize inlaying.

Like this, arm is can carry out partially folded active force to this limit in order to apply when move on the limit for the first time, moves along the limit for the second time then, applies active force, and this power can act on other limits, so that it is inlayed.

In fact, when folding, just can not be undertaken complete folding according to the very big full-shapes of 105 degree by the single operation opposite side in the front: this can cause single roller with the limit that need inlay between the angles spent of formation 105, and roller moves along this limit that need inlay.

Can not realize the distortion on limit with single operation: this can cause fold line to move to sidepiece with respect to the fold line of hope.

In known device, the active force that roller applies on the limit that needs fold for example is to produce by a described device of picture french patent application FR-A-2843549, controls with a sensor possibly simultaneously.

Summary of the invention

The purpose of this invention is to provide a kind of equipment of inlaying a member quickly and easily, and it is fine to inlay quality.

For this reason, the objective of the invention is a kind of device by an edge contraction of first block plate is assembled on a limit of second block plate, this device comprises that has the lever arm that a limit to first plate applies the instrument of active force, so that both with the edge contraction of this limit to second plate, again this limit is attached on the limit of second plate, it is characterized in that along this instrument of moving direction of this instrument is installed in before and after comprising in the support at least one inlay roller in advance and inlay roller, its feature is that also shape at an angle between the axle of two rollers.

The invention still further relates to the device that limits above, wherein supporting is to be contained in a balancing pole on the base, and this balancing pole can rotate with respect to base around an axle perpendicular to the moving direction of instrument, and this base is fixed on the lever arm.

The invention still further relates to the device that limits above, wherein instrument comprises at least one spring, and when balancing pole departed from neutral angle position, spring was compressed.

The invention still further relates to the device that limits above, wherein instrument comprises two springs, and when balancing pole departed from its neutral position along first or the second direction of swaying, these two springs were compressed respectively.

The invention still further relates to the device that limits above, wherein the angle that forms between the axle of two rollers is 55 °.

The invention still further relates to the device that limits above, wherein balancing pole is mounted to respect to base around an axle rotation overlapping with the rotating shaft of inlaying roller.

The invention still further relates to the device that limits above, the rotating shaft cutting of wherein inlaying roller and balancing pole has the symmetry axis of the arm of instrument.

The invention still further relates to a kind of method by an edge contraction of first block plate being assembled on a limit of second block plate with a device, this device comprises that has the lever arm that a limit to first plate applies the instrument of active force, so that both with the edge contraction of this limit to second plate, again this limit is attached on the limit of second plate, this method may further comprise the steps at least:

Near lever arm,, its stayed surface with the mould of the plate that has the needs assembling is contacted with tool positioned;

On instrument, apply active force;

Along the track Move tool of compiled program, keep being applied to the active force on the instrument.

Description of drawings

With reference now to accompanying drawing, the present invention is described.

Fig. 1 is the perspective view of the device of first Implementation Modes according to the present invention;

Fig. 2 is the front view of the device of first Implementation Modes according to the present invention;

Fig. 3 is a schematic diagram of inlaying steel plate with apparatus of the present invention;

Fig. 4 is the perspective view of the device of second Implementation Modes according to the present invention;

Fig. 5 is second front view of executing the device of pattern according to the present invention.

The specific embodiment

Apparatus of the present invention of first Implementation Modes shown in Fig. 1 and 2 are used for by inlaying or folding assembled component.As shown in Figure 3, this assembling is the limit B1 of the first steel plate P1 is folded on the limit B2 of the second steel plate P2.

Support this two boards with a mould M, inlay roller 1 in advance and inlay roller 2 and fold with being installed on the instrument one, described instrument is supported by a lever arm of robot.

For this reason, instrument comprises a support 3 or balancing pole, supports to have two rollers 1,2, and this balancing pole is contained on the base 7, and this balancing pole can be rotated around axle 4 with respect to this base 7.Axle 4 vertically extends along the limit that need inlay and the moving direction of instrument 1,2.

Utilize one to inlay the unshowned end that 8 base 7 with instrument is fixed on robot arm, the described head of inlaying comprises the stationary plane 9 that is fixed on this arm end.

For example this is inlayed 8 and comprises and can control the equipment that roller is applied to the active force intensity on the limit that need inlay, and base 7 is fixed on this movable device inlaying head rigidly.

For example this is inlayed 8 and comprises a spring, compresses this spring with robot on predefined paths, so that discharge the power of determining of inlaying by spring being stretched and compressing certain length.

As shown in Figure 1, instrument also comprises stress spring 5 and 6, and these two springs are respectively the spring of inlaying roller in advance and inlaying roller.

More particularly, balancing pole 3 comprises two 3A of branch and the 3B that are parallel to each other, and these two branches extend on the both sides of base 7, exceed rotating shaft 4.

Spring 5 is installed on the position that remains between 3A of branch and the base 7, spring 6 is installed on the position that remains between 3B of branch and the base 7.

Balancing pole 3 can compress spring 5 along the forward rotation (sens direct) of Fig. 1, and balancing pole rotates meeting compression spring 6 along the non-forward (sens indirect) of Fig. 1.

Therefore, these springs can take balancing pole 3 to jointly and be called neutral angle position, and this position is exactly the position that balancing pole occupies in Fig. 1 and 2, and 3A of branch and 3B and base 7 extend abreast when this position.

In when work, run into the thickness surplus if inlay roller 1 in advance, then this roller can make balancing pole 3 rotate along the direction of compression springs 5, is applied to active force on the limit that need inlay with regard to significantly having increased this roller like this.

Equally, run into the thickness surplus if inlay roller 2, what be compressed is spring 6, thereby can significantly increase the active force that this roller 6 applies.

Like this, arm applies tessellation power, and with inlaying 8 these active forces of control, is applied to the numerical value that the total force on the limit that needs inlay requires so that meet by two rollers 1 and 2.The distribution of active force between roller 1 and roller 2 is by spring 5 and 6 controls, so that subdue run into irregular well during instrument moves.

As shown in Figure 2, roller 1 and 2 is supported by axle A 1 and axle A2 respectively, and these two axles form one to each other and are not equal to zero angle W.

More particularly, axle A1 is in two parallel planes with axle A2, and these two planes are vertical with the track of instrument.Angle W1 is exactly in the plane of containing an A2, the angle that axle A2 and the rectangular projection of axle A1 in this plane separate.

When inlaying, inlay the guide surface S of roller 1 in advance near mould M, the steel plate P1 and the P2 that need inlay are arranged in this mould, utilize instrument opposite side B1 to apply active force, so that this limit of partial folds B1.

Move unshowned lever arm then, so as near spigot surface S along the limit Move tool that needs are inlayed, thereby the limit B1 that this need be inlayed is applied active force.

Along with instrument advances along limit B1, it is folding that roller 1 is at first inlayed on this limit in advance, inlayed then on the limit B2 that roller 2 clings to the second plate P2.

Because two roller 1,2 relative tilt W, at first be out of shape so inlay the limit B1 that roller 1 causes plate P1 in advance, inlay in advance roller 1 back seldom the roller 2 of inlaying of distance inlay.

Angle W is preferably 55 degree, can inlay in fact like this, in mosaic process, according to building up an only passage up to the edge break that the angle of 105 degree is inlayed needs, just becomes only passage of the instrument of inlaying.Therefore can be divided into two the circulation timei of inlaying.

Mark the time by the member that the free degree of balancing pole generation can be avoided needs are inlayed by obstacle.The stress spring 5 of roller and 6 can further reduce the influence of inlaying quality of thickness surplus to realizing.

As shown in Figure 1, in first Implementation Modes of the present invention, support or balancing pole 3 can make symmetry axis overlap with a rotating shaft AX who inlays 8 when this balancing pole 3 occupies neutral angle position.

Like this, roller 1 and 2 axle A 1 and A2 are in one respectively with the moving direction quadrature of instrument and contain the place ahead and the rear on the plane of this AX.Therefore, be evenly distributed on first and second rollers 1 and 2 by inlaying 8 applied pressure, under the situation that this external balancing pole 3 tilts, this distribution is also by stress spring 5 and 6 controls.

According to second Implementation Modes shown in the Figure 4 and 5, this device comprises asymmetric balancing pole 3 '.This balancing pole also has one to be inlayed roller 1 ' and one in advance and inlays roller 2 ', and on the moving direction of instrument, these two rollers one in front and one in back.As shown in Figure 5, these two rollers 1 ' and 2 ' also are contained on the axle A1 ' and A2 ' that forms angle W ' to each other.

Just as the situation of first Implementation Modes, axle A1 ' is in two parallel planes vertical with the track of instrument with axle A2 '.Angle W ' is exactly the angle that the rectangular projection in this plane separates with this A2 ' and axle A1 ' in the plane of containing an A2 '.

Shown in Figure 4 and 5, also balancing pole 3 ' is contained on the base 7 ', this base is rigidly connected and inlays 8 ', and this inlays headband last fixed surface 9 ' on the arm that is fixed to robot.

But in this second Implementation Modes, support 3 ' and can rotate around the axle 2 ' that overlaps with the axle of inlaying roller 2 ' with respect to this base 7 '.

In the Figure 4 and 5 inlay 8 ' with Fig. 1 and 2 in inlay 8 identical.For example it comprises that can be regulated a spring that is applied to the amount of force on the instrument, formulates parameter for the track of robot, so that compress this spring strong or weakly.

In this second Implementation Modes, a symmetry axis AX ' of 8 ' is inlayed in the rotating shaft A2 ' cutting of inlaying roller 2 ' and balancing pole 3 ', and these two axles are in the moving direction plane orthogonal with instrument.

For inlaying roller 1 ' in advance, its rotating shaft A1 ' is in the track of the instrument of being orthogonal to and contains the place ahead on the plane of an AX ', depends primarily on stress spring 5 ' so that this inlays the active force that roller 1 ' applies in advance.

Shown in Figure 4 and 5, this device includes only a side branch 11 ', and this branch and axle AX ' extend abreast, and have spring 5 '.

From the direction of advance of instrument, this branch 11 ' is positioned at the rear of inlaying roller 2 '.The lower end of this branch comprises a cover, and this branch is connected with the underarm 12 ' that supports 3 ' by this rotating connector of applying mechanically the axle that is parallel to an A2 '.

The extended FX of roller of underarm 12 ' along continuous straight runs, this horizontal direction is exactly the direction of advance of instrument, and this underarm ends at a vertical orientation elbow, and the cover of branch 11 ' is fixed on the upper end of this elbow.

Branch 11 ' comprises the bar of can't see among the figure, the lower end of this bar is fixed to put.This bar is parallel to an AX ', and passes a tubulose retainer 13 ', owing to the tubulose retainer extends abreast with an axle AX ', so this tubulose retainer is fixed on the base 7 ' rigidly.

Helical spring 5 ' is screwed to this screw the upper end of unshowned bar around a standard screw 14 '.Therefore spring 5 ' is between the upper surface of the head of standard screw 14 ' and tubulose retainer 13 '.

When the active force that is applied on the instrument makes this instrument according to non-forward rotation shown in Figure 4, just make when inlaying roller 1 ' in advance and rising, like this will compression stress spring 5 ', the active force on the steel plate limit that makes roller 1 ' be applied to need to inlay increases.

Therefore, standard screw 14 ' can directly be regulated and inlay roller 1 ' in advance and be applied to active force on the steel plate limit that need inlay, and screw 14 ' is twisted to such an extent that tight more this active force is just big more.

Inlaying active force that roller 2 ' need apply when inlaying the active force that roller 1 ' need apply in advance, substantially do not have influence to inlaying the active force that roller 2 ' applies when carrying out standard adjustment, inlay active force that roller 2 ' applies mainly with to inlay a 8 ' active force that applies relevant with screw 14 '.

Particularly as shown in Figure 4, the lowest limit of the cover 15 ' of branch 11 ' is made one more than the big stayed surface of the lower surface of tubulose retainer 13 '.

In resting position, this resembles situation shown in Figure 4, and the end of this cover keeps abutting against on the lower surface of retainer 13 ' by spring 5 ', thereby balancing pole 3 ' occupies neutral angle position.

As shown in Figure 3, when inlaying, adjust the position of inlaying roller 1 ' in advance, make its spigot surface S near mould M, the steel plate P1 and the P2 that need inlay are arranged in this mould, utilize instrument opposite side B1 to apply active force, so that this limit of partial folds B1.

Then near spigot surface S along the limit Move tool that needs are inlayed, thereby the limit B1 that this need be inlayed is applied active force.

When instrument advances, make limit B1 folding, with inlaying roller 2 ' this limit B1 is close on the B2 of limit then by inlaying roller 1 ' in advance.Therefore can be divided into two circulation timei.

The mobility of balancing pole can be avoided member is marked by obstacle the time: the pressure of can fine tuning inlaying roller by adjustment criteria screw 14 ' in advance.

In addition, by having in the plane that the axle A1 ' that inlays roller 1 ' in advance is arranged on the rotating shaft 4 ' that contains an axle AX ' of 8 ' and balancing pole 3 ', just can simplify the robot trajectory's who has instrument of second Implementation Modes program.

Claims

1. one kind is folded in the device of assembling on the limit (B2) of second block plate (P2) by the limit (B1) with first block plate (P1), and this device comprises that has an instrument (1,2 that the limit (B1) of first plate (P1) is applied active force; 1 ', 2 ') lever arm so that both that this limit is folding to the limit of second plate (P2) (B2), is attached to this limit again on the limit (B2) of second plate (P2), along this instrument (1,2,3,7; 1 ', 2 ', 3 ', 7 ') moving direction, this instrument (1,2,3,7; 1 ', 2 ', 3 ', 7 ') inlay roller (1 in advance for one that is installed in the support (3,3 ') before and after comprising; 1 ') and inlay roller (2; 2 '), these two rollers (1,2; 1 ', 2 ') axle (A1, A2; A1 ', A2 ') shape (W at an angle between; W '), it is characterized in that supporting (3; 3 ') be to be contained in a base (7; 7 ') balancing pole on, this balancing pole can be with respect to this base (7,7 ') around an axle (4 perpendicular to the instrument moving direction; A2 ') rotate, this base (7,7 ') is fixed on the lever arm.

2. according to the device of claim 1, wherein said instrument comprises at least one spring (5,6; 5 '), when balancing pole departed from neutral angle position, spring was compressed.

3. according to the device of claim 2, wherein said instrument comprises two springs (5,6), when balancing pole (3) along around first or second rotation direction of described axle (4) perpendicular to the instrument moving direction when departing from its neutral position, these two springs are compressed respectively.

4. according to the device of one of claim 1-3, (A1, A2) angle of Xing Chenging (W) is 55 ° to the axle of wherein said two rollers (1,2).

5. according to the device of one of claim 1-3, wherein balancing pole (3 ') is mounted to respect to base (7 ') around an axle that overlaps with the axle of inlaying roller (2 ') (A2 ') rotation.

6. according to the device of claim 5, axle (the A2 ') cutting belt of wherein inlaying roller (2 ') and balancing pole (3 ') has the symmetry axis of the described lever arm of described instrument.

7. one kind by being folded in the method for assembling on the limit (B2) of second block plate (P2) with the device of above-mentioned arbitrary claim with the limit (B1) of first block plate (P1), this device comprises that has an instrument (1 that the limit (B1) of first plate (P1) is applied active force, 2,3,7; 1 ', 2 ', 3 ', 7 ') lever arm so that both that this limit is folding to the limit of second plate (P2) (B2), is attached to this limit again on the limit (B2) of second plate (P1), and this method may further comprise the steps at least:

Near lever arm,, make itself and the plate that has the needs assembling (P1, stayed surface (S) contact of mould P2) (M) with tool positioned;

At instrument (1,2,3,7; 1 ', 2 ', 3 ', 7 ') apply active force on;

Along the track Move tool of compiled program, keep being applied to instrument (1,2,3,7; 1 ', 2 ', 3 ', 7 ') active force on.