EP1389498A1 - Verfahren und Vorrichtung zum Zusammenfügen von Werkstücken durch Falzen des Umfangrandes - Google Patents

Verfahren und Vorrichtung zum Zusammenfügen von Werkstücken durch Falzen des Umfangrandes Download PDF

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Publication number
EP1389498A1
EP1389498A1 EP03291934A EP03291934A EP1389498A1 EP 1389498 A1 EP1389498 A1 EP 1389498A1 EP 03291934 A EP03291934 A EP 03291934A EP 03291934 A EP03291934 A EP 03291934A EP 1389498 A1 EP1389498 A1 EP 1389498A1
Authority
EP
European Patent Office
Prior art keywords
roller
panel
peripheral edge
lever
electric motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03291934A
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English (en)
French (fr)
Other versions
EP1389498B1 (de
Inventor
Bruno Martinais
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Process Conception Ingenierie SA
Original Assignee
Process Conception Ingenierie SA
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Filing date
Publication date
Application filed by Process Conception Ingenierie SA filed Critical Process Conception Ingenierie SA
Publication of EP1389498A1 publication Critical patent/EP1389498A1/de
Application granted granted Critical
Publication of EP1389498B1 publication Critical patent/EP1389498B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B21D39/023—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors using rollers

Definitions

  • the present invention relates to a method and a device assembly of parts by crimping.
  • parts made up of at least two metal panels intended to form, for example, hoods, shutters or doors, are assembled by crimping the peripheral edges of these panels.
  • peripheral edge of one of the panels is previously folded substantially at right angles and the two panels are superimposed and placed on a matrix.
  • the edge lower panel device is bent toward the peripheral edge of the panel superior and, during a crimping operation, the peripheral edge of the lower panel is folded over the peripheral edge of the top panel in exerting pressure on said peripheral edges.
  • a crimping unit which comprises a robot equipped with an assembly device forming a head of crimping which includes including a support arm of a free roller in rotation.
  • the robot moves the device along a path recorded along the peripheral edges of the panels by rolling the roller on these peripheral edges.
  • the force is applied to the roller by a spring mechanism or by a mechanism with force control by means of a hydraulic cylinder or pneumatic or by means of an electric motor associated with a ball screw.
  • the object of the invention is to propose a method and a device crimping parts that avoid the disadvantages previously mentioned.
  • the invention therefore relates to a method of assembling parts by folding a peripheral edge of a first panel on a peripheral edge of at least one second panel, a method in which an operation of Preserving by folding the peripheral edge of the first panel towards the edge peripheral of the second panel and a crimping operation is carried out in applying the peripheral edge of said first panel to the peripheral edge said second panel, characterized in that the two operations are carried out with the same roller on which a force is applied by traction or thrust on it and one moves for each operation said roller on the edges peripheral panels.
  • the subject of the invention is also a device for assembling pieces by folding a peripheral edge of a first panel on the edge at least one second panel, said panels being placed on a matrix and said device comprising suitable timingsertissage means to fold the peripheral edge of the first panel towards the peripheral edge of the second panel, crimping means adapted to apply the edge device of said first panel on the peripheral edge of said second panel and means for moving said prestressing means and crimping along the peripheral edges, characterized in that the means of pre-crimping and crimping are formed by a single free-mounted roller rotation at the end of an arm connected to means for applying a force on this roller by pulling or pushing on it.
  • FIG. 1 there is shown diagrammatically a unit of crimping which includes a robot designated by the general reference 1 having an arm 2 movable along several axes and to which a path of predetermined displacement is recorded.
  • the front end of the robot arm 2 is equipped with a device according to the invention and designated in its together by reference 3.
  • FIG. 1 there is also shown a designated part in its assembly by the reference 4, constituted for example by a hood or a motor vehicle door and which consists of a first panel 5 and a second panel 6.
  • the panels 5 and 6 are placed on a matrix 7 and the panel 5 has a peripheral portion folded beforehand upwards, substantially at right angles.
  • the device comprises means for pre-seals adapted to fold the peripheral edge of the first panel 5 towards the peripheral edge of the second panel 6, as shown in Figs. 2A and 2B, and crimping means adapted to apply the peripheral edge of this first panel 5 on the peripheral edge of said second panel 6 with a determined pressure, as shown in Figs. 3A and 3B.
  • the means of pre-crimping and crimping are formed by a single roller 8 mounted freely in rotation at the end of a support arm 9 carried by the device 3.
  • the support arm 9 is connected to means for applying a force on the roller 8 and will be described later.
  • crimping means for applying a force on the roller 8 via of the arm 9 apply this force either by traction on said roller 8 during Preservation operation (Fig. 2A) and / or crimping operation (Fig. 3A) either by applying a force by pushing on said roller 8 during the operation Preservation (Fig. 2B) and / or during the crimping operation (Fig. 3B).
  • the matrix 7 comprises at its periphery, an inclined plane 7a on which the roller 8 bears when the operation of trastissage.
  • the means for applying a force on the roller 8 by traction or by thrust on it as well during the pre-press and / or the crimping operation are formed by a mechanism associated with an engine Rotary electric 10.
  • the rotary electric motor 10 is mounted on a frame 11 fixed to the end of the robot arm 2 and has an output shaft 12 which leads to rotation an eccentric 13.
  • the means of application of the force on the roller 8 comprise also a connecting rod 14 pivotally mounted substantially in its middle part around a horizontal axis 15 supported by the frame 11 and having a first end 14a articulated on the support arm 9 of the roller 8 and a second end 14b articulated on a control rod 16 mounted on the eccentric 13.
  • These means also include a right lever 17 having a first end 17a pivoting about a horizontal axis 18 extending parallel to the horizontal axis 15 of the connecting rod 14 and a second end 17b articulated on the support arm 9 of the roller 8.
  • the horizontal axis is also supported by the frame 11.
  • the second end 17b of the right lever 17 articulated on the support arm 9 is disposed between the articulation 14a of the connecting rod 14 and the roller 8.
  • This second end 17b can be arranged for example above of the articulation 14a.
  • the distance between the hinge axis 15 of the connecting rod 14 and the first end 14a of this connecting rod 14 articulated on the arm 9 is substantially equal to the distance separating the two ends 17a and 17b of the right lever 17 of to form a parallelogram system.
  • the rotary electric motor 10 drives in rotation by through the output shaft 12 the eccentric 13 which transmits the effort to the connecting rod 14 via the control rod 16.
  • the rod 14 pivoting about the horizontal axis 15 transmits the force to the support arm 9 which, by a parallelogram movement obtained thanks to the right lever 17, puts the roller 8 in contact with the peripheral edges panels 5 and 6 to be assembled and applies a force on this roller 8.
  • the direction of rotation of the electric motor 10 depends on the presetting and crimping configuration and according to the rotation direction of this motor 10, traction or thrust is applied to the roller 8 by through the arm 9.
  • the means for applying the force on the roller 8 are formed by a mechanism with a linear electric motor 20 fixed on a frame 21 carried by the robot arm 2.
  • the electric motor 20 is an electric motor with motion vertical line having an output shaft 22 and the application means of the force also comprise, on the one hand, a first pivotally mounted lever 23 substantially in its middle part around a horizontal axis 24 supported by the frame 21 and having a first end 23a articulated on the arm of support 9 and a second end 23b articulated on the output shaft 22 of the electric motor 20 and, secondly, a second lever 25 having a first end 25a pivoting about a horizontal axis 26 supported by the frame 21 and extending parallel to the horizontal axis 24 and a second end 25b articulated on the support arm 9.
  • the end 25b of the lever 25 articulated on the support arm 9 is disposed above the end 23a of the lever 23 articulated on said arm of support 9.
  • the articulation of the end 23b of the lever 23 is mounted in a hole oblong 27 formed in said end 23b of the lever 23.
  • the distance between the hinge axis 24 of the first lever 23 and the first end 23a of this first lever 23 is substantially equal to the distance separating the two ends 25a and 25b of the second lever 25 so as to constitute a parallelogram system.
  • the end 25b of the lever 25 articulated on the support arm 9 can be disposed between the end 23a of the lever 23 articulated on said support arm 9 and the roller 8.
  • the electric motor 20, by its vertical linear movement, makes pivot, relative to the horizontal axis 24, the first lever 23.
  • This first lever 23 then transmits the force to the support arm 9 which, by a movement of parallelogram obtained by the levers 23 and 24, puts the roller 8 in contact with the peripheral edges of the panels 5 and 6 to be crimped and applied on this roller said force.
  • the guidance along the YY axis of the arm 9 is provided by four friction plates 28, as shown in FIG. 7.
  • the direction of translation of the electric motor 20 depends on the presetting and crimping configuration and, according to this configuration, the electric motor 20 applies via the levers 23 and 25 and the arm 9, on the roller 8 is a traction or a pressure.
  • the means for applying the force on the roller 8 comprise an electric motor rotary 30 fixed on a frame 31 carried by the robot arm 2 and a multiplier hydraulic system designated by general reference 35.
  • the electric motor 30 has an output shaft connected to the hydraulic multiplier 35 by a connecting member formed by a rack 32 which meshes with a pinion 32a driven in rotation by said output shaft.
  • the rack 32 is connected at each of its ends to a rod 33 extending parallel to said rack 32.
  • the hydraulic multiplier 35 comprises a first piston 36 linearly movable, carried by the rod 33 and which is arranged in a chamber 37.
  • the chamber 37 is divided by the piston 36 into two half-chambers respectively 37a and 37b.
  • the hydraulic multiplier 35 also includes a second piston 38 movable linearly arranged in a chamber 39 and carried by a rod 40 extending parallel to the rod 33.
  • the rod 40 carries at one of its ends the roller 8 and the piston 38 divides the chamber 39 into two half-chambers respectively 39a and 39b.
  • the two half-chambers 37a and 39a communicate with each other via an orifice 41 and the two half-chambers 37b and 39b communicate with each other through an orifice 42.
  • Rooms 37 and 39 are filled with a fluid as per example of the oil.
  • the rotary electric motor 30 allows, via the pinion 32a which meshes with the rack 32, to transmit a force F1 to piston 36 via the rod 33.
  • the piston 36 then moves under a constant pressure P the fluid volume of the half-chamber 37a in the half-chamber 37a through the orifice 41 or the half-chamber 37b in the half-chamber 37b through the orifice 42, following the direction of rotation of the motor 30.
  • the displacement of the fluid in the half-chamber 39a or in the half-chamber 39b allows the displacement of the piston 38 by applying by through the rod 40 a force F2 to the roller 8, necessary to achieve the Presetting or crimping the peripheral edges of panels 5 and 6.
  • the piston 38 has a greater diameter than the piston 36 and the diameter ratio between these two pistons 38 and 36 is also the ratio between the force F1 supplied by the electric motor 30 and the force F2 applied to the roller 8.
  • the force applied to the roller 8 depends on the direction of rotation of the electric motor 30 and, depending on the configuration of the torquesertissage and the crimping, this force is applied to said roller 8 by pulling or pushing.
  • the rotary electric motor 30 associated with the assembly formed by the pinion 32a and the rack 32 can be replaced by an electric motor linear.
  • the device according to the invention makes it possible to carry out a presering, then a crimping operation by rolling the roller on the peripheral edges of the panels to be assembled by pulling or pushing on said roller with a substantially constant and adjustable force.
  • the device for crimping allows a variation of positions of the support arm of the roller more or less 6mm.
  • the force applied to the roller is obtained by a predetermined motor torque, depending on the parameterization of the associated drive.
  • the device according to the invention has the advantage over devices used so far to apply to the pre-press and crimping a substantially constant and adjustable force even for variations of small amplitudes along the axis YY of the support arm of this roller of crimping.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Manufacturing Of Electrical Connectors (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
EP03291934A 2002-08-13 2003-07-31 Verfahren und Vorrichtungen zum Zusammenfügen von Werkstücken durch Falzen des Umfangrandes Expired - Lifetime EP1389498B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0210283A FR2843549B1 (fr) 2002-08-13 2002-08-13 Procede et dispositif d'assemblage de pieces par sertissage d'un bord peripherique
FR0210283 2002-08-13

Publications (2)

Publication Number Publication Date
EP1389498A1 true EP1389498A1 (de) 2004-02-18
EP1389498B1 EP1389498B1 (de) 2012-05-09

Family

ID=30471101

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03291934A Expired - Lifetime EP1389498B1 (de) 2002-08-13 2003-07-31 Verfahren und Vorrichtungen zum Zusammenfügen von Werkstücken durch Falzen des Umfangrandes

Country Status (5)

Country Link
EP (1) EP1389498B1 (de)
AT (1) ATE556792T1 (de)
ES (1) ES2382732T3 (de)
FR (1) FR2843549B1 (de)
PT (1) PT1389498E (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2232271A1 (es) * 2003-03-07 2005-05-16 Ingemat Sa Herramienta de engatillado para montar en robot.
WO2005082560A1 (de) * 2004-02-20 2005-09-09 Gm Global Technology Operations, Inc. Bördeleinrichtung sowie verwendung einer bördeleinrichtung
US7124611B2 (en) 2004-10-08 2006-10-24 Valiant Corporation Roller hemming machine
FR2895690A1 (fr) * 2006-01-05 2007-07-06 Process Conception Ing Sa Dispositif d'assemblage de pieces par pliage
EP1958714A1 (de) * 2005-12-05 2008-08-20 HONDA MOTOR CO., Ltd. Umbördelverfahren und umbördelvorrichtung
WO2009015785A2 (de) * 2007-07-27 2009-02-05 Kuka Systems Gmbh Falzeinrichtung und falzverfahren
CN101360573B (zh) * 2005-12-05 2010-05-19 本田技研工业株式会社 折边加工方法和折边加工设备
EP2868403A1 (de) * 2013-11-01 2015-05-06 Kabushiki Kaisha Yaskawa Denki Robotersystem und Verfahren zur Herstellung eines zu verarbeitenden Materials
CN104801619A (zh) * 2015-05-28 2015-07-29 重庆长安汽车股份有限公司 扣合模平动内包边机构
CN110000297A (zh) * 2019-03-28 2019-07-12 曾琼 自动包边式玻璃盖金属包边装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5267387A (en) * 1991-08-01 1993-12-07 Triengineering Co., Ltd. Method for hemming a workpiece having an upturned edge
JPH10180373A (ja) * 1996-12-20 1998-07-07 Mazda Motor Corp ローラ式ヘミング方法およびその装置
FR2774011A1 (fr) * 1998-01-28 1999-07-30 Peugeot Dispositif de presertissage et/ou de sertissage
JP2001047163A (ja) * 1999-07-30 2001-02-20 Toyota Auto Body Co Ltd クランプ装置
JP2002102957A (ja) * 2000-09-28 2002-04-09 Toyota Auto Body Co Ltd ロールヘミング装置及びそれを用いたロールヘミング加工方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5267387A (en) * 1991-08-01 1993-12-07 Triengineering Co., Ltd. Method for hemming a workpiece having an upturned edge
JPH10180373A (ja) * 1996-12-20 1998-07-07 Mazda Motor Corp ローラ式ヘミング方法およびその装置
FR2774011A1 (fr) * 1998-01-28 1999-07-30 Peugeot Dispositif de presertissage et/ou de sertissage
JP2001047163A (ja) * 1999-07-30 2001-02-20 Toyota Auto Body Co Ltd クランプ装置
JP2002102957A (ja) * 2000-09-28 2002-04-09 Toyota Auto Body Co Ltd ロールヘミング装置及びそれを用いたロールヘミング加工方法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 12 31 October 1998 (1998-10-31) *
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 19 5 June 2001 (2001-06-05) *
PATENT ABSTRACTS OF JAPAN vol. 2002, no. 08 5 August 2002 (2002-08-05) *

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2232271A1 (es) * 2003-03-07 2005-05-16 Ingemat Sa Herramienta de engatillado para montar en robot.
WO2005082560A1 (de) * 2004-02-20 2005-09-09 Gm Global Technology Operations, Inc. Bördeleinrichtung sowie verwendung einer bördeleinrichtung
US7124611B2 (en) 2004-10-08 2006-10-24 Valiant Corporation Roller hemming machine
US8914964B2 (en) 2005-12-05 2014-12-23 Honda Motor Co., Ltd. Hemming working method and working apparatus
CN101811163B (zh) * 2005-12-05 2013-12-25 本田技研工业株式会社 折边加工方法和折边加工设备
EP1958714A1 (de) * 2005-12-05 2008-08-20 HONDA MOTOR CO., Ltd. Umbördelverfahren und umbördelvorrichtung
EP1958714A4 (de) * 2005-12-05 2008-12-03 Honda Motor Co Ltd Umbördelverfahren und umbördelvorrichtung
EP2108466A3 (de) * 2005-12-05 2010-01-27 Honda Motor Co., Ltd. Umbördelverfahren und Umbördelvorrichtung
CN101360573B (zh) * 2005-12-05 2010-05-19 本田技研工业株式会社 折边加工方法和折边加工设备
US8272243B2 (en) 2005-12-05 2012-09-25 Honda Motor Co., Ltd. Hemming working method and working apparatus
WO2007077377A3 (fr) * 2006-01-05 2007-08-23 Process Conception Ingenerie S Dispositif d'assemblage de pieces par pliage.
WO2007077377A2 (fr) * 2006-01-05 2007-07-12 Process Conception Ingenerie Sa Dispositif d'assemblage de pieces par pliage.
FR2895690A1 (fr) * 2006-01-05 2007-07-06 Process Conception Ing Sa Dispositif d'assemblage de pieces par pliage
CN101356026B (zh) * 2006-01-05 2010-09-08 加工设计工程股份有限公司 通过折边方法进行部件组装的装置
WO2009015785A2 (de) * 2007-07-27 2009-02-05 Kuka Systems Gmbh Falzeinrichtung und falzverfahren
WO2009015785A3 (de) * 2007-07-27 2009-04-23 Kuka Systems Gmbh Falzeinrichtung und falzverfahren
EP2868403A1 (de) * 2013-11-01 2015-05-06 Kabushiki Kaisha Yaskawa Denki Robotersystem und Verfahren zur Herstellung eines zu verarbeitenden Materials
CN104608114A (zh) * 2013-11-01 2015-05-13 株式会社安川电机 机器人系统及被加工物的制造方法
US9908160B2 (en) 2013-11-01 2018-03-06 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
CN104801619A (zh) * 2015-05-28 2015-07-29 重庆长安汽车股份有限公司 扣合模平动内包边机构
CN104801619B (zh) * 2015-05-28 2016-11-02 重庆长安汽车股份有限公司 扣合模平动内包边机构
CN110000297A (zh) * 2019-03-28 2019-07-12 曾琼 自动包边式玻璃盖金属包边装置
CN110000297B (zh) * 2019-03-28 2020-11-20 曾琼 自动包边式玻璃盖金属包边装置

Also Published As

Publication number Publication date
FR2843549A1 (fr) 2004-02-20
PT1389498E (pt) 2012-06-06
ES2382732T3 (es) 2012-06-13
EP1389498B1 (de) 2012-05-09
FR2843549B1 (fr) 2005-05-27
ATE556792T1 (de) 2012-05-15

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