EP1389498A1 - Method and device for assembling workpieces by hemming a peripheral edge - Google Patents

Method and device for assembling workpieces by hemming a peripheral edge Download PDF

Info

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
Other languages
German (de)
French (fr)
Other versions
EP1389498B1 (en
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
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Process Conception Ingenierie SA filed Critical Process Conception Ingenierie SA
Publication of EP1389498A1 publication Critical patent/EP1389498A1/en
Application granted granted Critical
Publication of EP1389498B1 publication Critical patent/EP1389498B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

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)

Abstract

Two thin metal plates (5,6) such as might be used for a car door are placed on a die (7) and a robot (1) with arm (2) and head (3) joins them at the edges. The head consists of an arm (9), roller (8) and means to pull or push the roller evenly which use an electric motor with a mechanical or hydraulic transmission. The edge of the lower plate is bent over the edge of the second plate and the two are then crimped by the same roller and robot : An independent claim is also included for : Equipment able to assemble thin metal plates which uses a robot head and roller able to bend one peripheral plate edge over the other and then crimp the two together in consecutive uninterrupted operations.

Description

La présente invention concerne un procédé et un dispositif d'assemblage de pièces par sertissage.The present invention relates to a method and a device assembly of parts by crimping.

Dans de nombreux domaines et notamment dans le domaine de l'automobile, des pièces constituées par au moins deux panneaux métalliques destinés à former par exemple des capots, des volets ou des portes, sont assemblés par sertissage des bords périphériques de ces panneaux.In many fields and particularly in the field of the automobile, 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.

Pour cela, le bord périphérique de l'un des panneaux est préalablement plié sensiblement à angle droit et les deux panneaux sont superposés et placés sur une matrice.For this, the 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.

Ensuite, au cours d'une opération de présertissage, le bord périphérique du panneau inférieur est plié vers le bord périphérique du panneau supérieur et, au cours d'une opération de sertissage, le bord périphérique du panneau inférieur est rabattu sur le bord périphérique du panneau supérieur en exerçant une pression sur lesdits bords périphériques.Then, during a pre-trial operation, 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 cet effet, il est connu d'utiliser une unité de sertissage qui comporte un robot équipé d'un dispositif d'assemblage formant une tête de sertissage qui comprend notamment un bras de support d'un galet libre en rotation.For this purpose, it is known to use 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.

Le robot déplace le dispositif selon un trajet enregistré le long des bords périphériques des panneaux en faisant rouler sous pression le galet sur ces bords périphériques.The robot moves the device along a path recorded along the peripheral edges of the panels by rolling the roller on these peripheral edges.

Dans les dispositifs d'assemblage par sertissage utilisés jusqu'à présent, la force est appliquée au galet par un mécanisme à ressort ou par un mécanisme avec asservissement d'efforts au moyen d'un vérin hydraulique ou pneumatique ou au moyen d'un moteur électrique associé à une vis à bille.In crimping devices used up to present, 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.

Ces mécanismes sont conçus pour exercer une poussée sur le galet.These mechanisms are designed to exert a push on the roller.

Or, dans certaines configurations de sertissage et en fonction de la forme des panneaux des pièces à assembler, les opérations de présertissage et/ou de sertissage qui doivent être réalisées en effectuant une poussée sur le galet, ce qui oblige à procéder à plusieurs changements du dispositif.However, in certain configurations of crimping and depending on the shape of the panels of the parts to assemble, the operations of présertissage and / or crimping which must be performed by pushing on the pebble, which requires to make several changes of the device.

De ce fait, le temps nécessaire pour assembler les panneaux est augmenté par le démontage et le montage des dispositifs de sertissage ce qui est incompatible avec les productions en grande série.As a result, the time required to assemble the panels is increased by the disassembly and assembly of the crimping devices which is incompatible with mass production.

De plus, avec ces mécanismes, la force appliquée sur le galet n'est pas constante au cours du déplacement du dispositif le long des bords périphériques nécessitant ainsi des réglages successifs.In addition, with these mechanisms, the force applied to the roller is not constant during the movement of the device along the edges peripherals thus requiring successive adjustments.

L'invention a pour but de proposer un procédé et un dispositif d'assemblage de pièces par sertissage qui évitent les inconvénients précédemment mentionnés.The object of the invention is to propose a method and a device crimping parts that avoid the disadvantages previously mentioned.

L'invention a donc pour objet un procédé d'assemblage de pièces par pliage d'un bord périphérique d'un premier panneau sur un bord périphérique d'au moins un second panneau, procédé dans lequel on réalise une opération de présertissage en pliant le bord périphérique du premier panneau vers le bord périphérique du second panneau et on réalise une opération de sertissage en appliquant le bord périphérique dudit premier panneau sur le bord périphérique dudit second panneau, caractérisé en ce que l'on réalise les deux opérations avec un même galet sur lequel on applique une force par traction ou par poussée sur celui-ci et l'on déplace pour chacune des opérations ledit galet sur les bords périphériques des panneaux.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.

L'invention a aussi pour objet un dispositif d'assemblage de pièces par pliage d'un bord périphérique d'un premier panneau sur le bord périphérique d'au moins un second panneau, lesdits panneaux étant placés sur une matrice et ledit dispositif comprenant des moyens de présertissage adaptés pour plier le bord périphérique du premier panneau vers le bord périphérique du second panneau, des moyens de sertissage adaptés pour appliquer le bord périphérique dudit premier panneau sur le bord périphérique dudit second panneau et des moyens de déplacement desdits moyens de présertissage et de sertissage le long des bords périphériques, caractérisé en ce que les moyens de présertissage et de sertissage sont formés par un même galet monté libre en rotation à l'extrémité d'un bras relié à des moyens d'application d'une force sur ce galet par traction ou par poussée sur celui-ci.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 présertissage 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.

Selon d'autres caractéristiques de l'invention :

  • la matrice comporte, à sa périphérie, un plan incliné de guidage du galet,
  • les moyens d'application de la force sur le galet comprennent un moteur électrique rotatif et, d'une part, une bielle montée pivotante sensiblement dans sa partie médiane autour d'un axe horizontal et comportant une première extrémité articulée sur le bras de support du galet et une seconde extrémité articulée sur une bielle de commande montée sur un excentrique entraíné en rotation par un arbre de sortie du moteur électrique rotatif et, d'autre part, un levier droit comportant une première extrémité pivotante autour d'un axe horizontal et une seconde extrémité articulée sur le bras de support,
  • les moyens d'application de la force sur le galet comprennent un moteur électrique à commande linéaire vertical et, d'une part, un premier levier monté pivotant sensiblement dans sa partie médiane autour d'un axe horizontal et comportant une première extrémité articulée sur le bras de support du galet et une seconde extrémité articulée sur un arbre de sortie du moteur électrique et, d'autre part, un second levier comportant une première extrémité pivotante autour d'un axe horizontal et une seconde extrémité articulée sur le bras de support,
  • les moyens d'application de la force sur le galet comprennent un moteur électrique et un multiplicateur hydraulique comportant, d'une part, un premier piston déplaçable linéairement dans une chambre remplie d'un fluide, par un organe de liaison avec un arbre de sortie du moteur et, d'autre part, un second piston relié au galet et disposé dans une chambre remplie de fluide communiquant avec la chambre du premier piston, ledit second piston étant déplaçable linéairement par la pression du fluide lors du déplacement du premier piston.
According to other features of the invention:
  • the matrix comprises, at its periphery, an inclined plane for guiding the roller,
  • the means for applying the force on the roller comprise a rotary electric motor and, on the one hand, a rod pivotally mounted substantially in its median portion about a horizontal axis and having a first end hinged to the support arm of the roller and a second end articulated on a control rod mounted on an eccentric rotated by an output shaft of the rotary electric motor and, secondly, a right lever having a first end pivoting about a horizontal axis and a second end articulated on the support arm,
  • the means for applying the force on the roller comprise a vertical linearly controlled electric motor and, on the one hand, a first lever pivotally mounted substantially in its median portion about a horizontal axis and having a first end articulated on the roller support arm and a second end hinged to an output shaft of the electric motor and secondly a second lever having a first end pivoting about a horizontal axis and a second end hinged to the support arm,
  • the means for applying the force on the roller comprise an electric motor and a hydraulic multiplier comprising, on the one hand, a first piston displaceable linearly in a chamber filled with a fluid, by a connecting member with an output shaft of the engine and, secondly, a second piston connected to the roller and disposed in a fluid-filled chamber communicating with the chamber of the first piston, said second piston being linearly displaceable by the fluid pressure during the displacement of the first piston.

Les caractéristiques et avantages de l'invention apparaítront au cours de la description qui va suivre, donnée à titre d'exemple et faite en référence aux dessins annexés, sur lesquels :

  • la Fig. 1 est une vue schématique en élévation d'une unité de sertissage équipée d'un dispositif conforme à l'invention,
  • les Figs. 2A et 2B sont deux vues schématiques d'un galet du dispositif montrant deux modes de travail de ce galet au cours de l'opération de présertissage,
  • les Figs. 3A et 3B sont des vues schématiques d'un galet du dispositif montrant deux modes de travail de ce galet au cours de l'opération de sertissage,
  • la Fig. 4 est une vue schématique en coupe verticale d'un premier mode de réalisation des moyens d'application d'une force sur le galet,
  • la Fig. 5 est une vue de côté suivant la flèche F1 de la Fig. 4,
  • la Fig. 6 est une vue schématique en coupe verticale d'un second mode de réalisation des moyens d'application d'une force sur le galet,
  • la Fig. 7 est une vue de côté suivant le flèche F2 de la Fig. 6,
  • la Fig. 8 est une vue schématique en coupe verticale d'un troisième mode de réalisation des moyens d'application d'une force sur le galet.
The characteristics and advantages of the invention will become apparent from the following description, given by way of example and with reference to the appended drawings, in which:
  • FIG. 1 is a schematic elevational view of a crimping unit equipped with a device according to the invention,
  • Figs. 2A and 2B are two diagrammatic views of a roller of the device showing two working modes of this roller during the prestressing operation,
  • Figs. 3A and 3B are schematic views of a roller of the device showing two working modes of this roller during the crimping operation,
  • FIG. 4 is a diagrammatic view in vertical section of a first embodiment of the means for applying a force to the roller,
  • FIG. 5 is a side view along arrow F1 of FIG. 4
  • FIG. 6 is a diagrammatic view in vertical section of a second embodiment of the means for applying a force to the roller,
  • FIG. 7 is a side view along the arrow F2 of FIG. 6
  • FIG. 8 is a schematic vertical sectional view of a third embodiment of the means for applying a force on the roller.

Sur la Fig. 1, on a représenté schématiquement une unité de sertissage qui comprend un robot désigné par la référence générale 1 comportant un bras 2 déplaçable selon plusieurs axes et auquel un trajet de déplacement prédéterminé est enregistré. L'extrémité antérieure du bras de robot 2 est équipée d'un dispositif conforme à l'invention et désigné dans son ensemble par la référence 3.In 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.

Sur la Fig. 1, on a représenté également une pièce désignée dans son ensemble par la référence 4, constitué par exemple par un capot ou une porte de véhicule automobile et qui est composée d'un premier panneau 5 et d'un second panneau 6. Les panneaux 5 et 6 sont placés sur une matrice 7 et le panneau 5 a une portion périphérique repliée au préalable vers le haut, sensiblement à angle droit.In 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.

D'une manière générale, le dispositif comprend des moyens de présertissage adaptés pour plier le bord périphérique du premier panneau 5 vers le bord périphérique du second panneau 6, comme montré sur les Figs. 2A et 2B, et des moyens de sertissage adaptés pour appliquer le bord périphérique de ce premier panneau 5 sur le bord périphérique dudit second panneau 6 avec une pression déterminée, comme représenté sur les Figs. 3A et 3B. Les moyens de présertissage et de sertissage sont formés par un même galet 8 monté libre en rotation à l'extrémité d'un bras de support 9 porté par le dispositif 3.In general, 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.

Le bras support 9 est relié à des moyens d'application d'une force sur le galet 8 et qui seront décrits ultérieurement.The support arm 9 is connected to means for applying a force on the roller 8 and will be described later.

Selon la configuration des panneaux 5 et 6 à assembler par sertissage, les moyens d'application d'une force sur le galet 8 par l'intermédiaire du bras 9 appliquent cette force soit par traction sur ledit galet 8 au cours de l'opération de présertissage (Fig. 2A) et/ou de l'opération de sertissage (Fig. 3A) soit par l'application d'une force par poussée sur ledit galet 8 lors de l'opération de présertissage (Fig. 2B) et/ou lors de l'opération de sertissage (Fig. 3B).Depending on the configuration of panels 5 and 6 to be assembled by 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).

Ainsi que représenté sur les Figs. 2A et 2B, la matrice 7 comporte à sa périphérie, un plan incliné 7a sur lequel le galet 8 prend appui lors de l'opération de présertissage.As shown in Figs. 2A and 2B, the matrix 7 comprises at its periphery, an inclined plane 7a on which the roller 8 bears when the operation of présertissage.

Selon un premier mode de réalisation représenté sur les Figs. 4 et 5, les moyens d'application d'une force sur le galet 8 par traction ou par poussée sur celui-ci aussi bien lors de l'opération de présertissage et/ou de l'opération de sertissage sont formés par un mécanisme associé à un moteur électrique rotatif 10.According to a first embodiment shown in Figs. 4 and 5, 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.

Le moteur électrique rotatif 10 est monté sur un bâti 11 fixé à l'extrémité du bras de robot 2 et comporte un arbre de sortie 12 qui entraíne en rotation un excentrique 13.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.

Les moyens d'application de la force sur le galet 8 comprennent aussi une bielle 14 montée pivotante sensiblement dans sa partie médiane autour d'un axe horizontal 15 supporté par le bâti 11 et comportant une première extrémité 14a articulée sur le bras de support 9 du galet 8 et une seconde extrémité 14b articulée sur une bielle de commande 16 montée sur l'excentrique 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.

Ces moyens comprennent également un levier droit 17 comportant une première extrémité 17a pivotant autour d'un axe horizontal 18 s'étendant parallèlement à l'axe horizontal 15 de la bielle 14 et une seconde extrémité 17b articulée sur le bras de support 9 du galet 8. L'axe horizontal est également supporté par le bâti 11.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.

Dans l'exemple de réalisation représenté à la Fig. 4, la seconde extrémité 17b du levier droit 17 articulée sur le bras de support 9 est disposée entre l'articulation 14a de la bielle 14 et le galet 8.In the embodiment shown in FIG. 4, 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.

Cette seconde extrémité 17b peut être disposée par exemple au-dessus de l'articulation 14a.This second end 17b can be arranged for example above of the articulation 14a.

La distance entre l'axe d'articulation 15 de la bielle 14 et la première extrémité 14a de cette bielle 14 articulée sur le bras 9 est sensiblement égale à la distance séparant les deux extrémités 17a et 17b du levier droit 17 de façon à former un système à parallélogramme.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.

Le moteur électrique rotatif 10 entraíne en rotation par l'intermédiaire de l'arbre de sortie 12 l'excentrique 13 qui transmet l'effort à la bielle 14 par l'intermédiaire de la bielle de commande 16.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.

La bielle 14 en pivotant autour de l'axe horizontal 15 transmet la force au bras de support 9 qui, par un mouvement de parallélogramme obtenu grâce au levier droit 17, met le galet 8 en contact avec les bords périphériques des panneaux 5 et 6 à assembler et applique une force sur ce galet 8.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.

Lors du déplacement selon l'axe YY du bras de support 9, le guidage de ce bras de support 9 est assuré par quatre plaques de frottement 19, comme montré à la Fig. 5.When moving along the axis YY of the support arm 9, the guidance of this support arm 9 is provided by four friction plates 19, as shown in FIG. 5.

Le sens de rotation du moteur électrique 10 dépend de la configuration du présertissage et du sertissage et selon le sens de rotation de ce moteur 10, une traction ou une poussée est appliquée sur le galet 8 par l'intermédiaire du bras 9.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.

Selon un second mode de réalisation représenté sur les Figs. 6 et 7, les moyens d'application de la force sur le galet 8 sont formés par un mécanisme avec un moteur électrique linéaire 20 fixé sur un bâti 21 porté par le bras de robot 2.According to a second embodiment shown in FIGS. 6 and 7, 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.

Le moteur électrique 20 est un moteur électrique à mouvement linéaire vertical comportant un arbre de sortie 22 et les moyens d'application de la force comprennent également, d'une part, un premier levier 23 monté pivotant sensiblement dans sa partie médiane autour d'un axe horizontal 24 supporté par le bâti 21 et comportant une première extrémité 23a articulée sur le bras de support 9 et une seconde extrémité 23b articulée sur l'arbre de sortie 22 du moteur électrique 20 et, d'autre part, un second levier 25 comportant une première extrémité 25a pivotant autour d'un axe horizontal 26 supporté par le bâti 21 et s'étendant parallèlement à l'axe horizontal 24 et une seconde extrémité 25b articulée sur le bras de support 9.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.

L'extrémité 25b du levier 25 articulée sur le bras de support 9 est disposée au-dessus de l'extrémité 23a du levier 23 articulée sur ledit bras de support 9. L'articulation de l'extrémité 23b du levier 23 est montée dans un trou oblong 27 ménagé dans ladite extrémité 23b du levier 23.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.

La distance entre l'axe d'articulation 24 du premier levier 23 et la première extrémité 23a de ce premier levier 23 est sensiblement égale à la distance séparant les deux extrémités 25a et 25b du second levier 25 de façon à constituer un système à parallélogramme.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.

L'extrémité 25b du levier 25 articulée sur le bras de support 9 peut être disposée entre l'extrémité 23a du levier 23 articulée sur ledit bras de support 9 et le galet 8.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.

Le moteur électrique 20, par son mouvement linéaire vertical, fait pivoter, par rapport à l'axe horizontal 24, le premier levier 23. Ce premier levier 23 transmet alors la force au bras de support 9 qui, par un mouvement de parallélogramme obtenu par les leviers 23 et 24, met le galet 8 en contact avec les bords périphériques des panneaux 5 et 6 à sertir et applique sur ce galet ladite force.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.

Le guidage selon l'axe YY du bras 9 est assuré par quatre plaques de frottement 28, comme montré à la Fig. 7.The guidance along the YY axis of the arm 9 is provided by four friction plates 28, as shown in FIG. 7.

Le sens de translation du moteur électrique 20 dépend de la configuration du présertissage et du sertissage et, selon cette configuration, le moteur électrique 20 applique par l'intermédiaire des leviers 23 et 25 et du bras de support 9, sur le galet 8 soit une traction, soit une pression.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.

Selon un troisième mode de réalisation représenté à la Fig. 8, les moyens d'application de la force sur le galet 8 comprennent un moteur électrique rotatif 30 fixé sur un bâti 31 porté par le bras de robot 2 et un multiplicateur hydraulique désigné par la référence générale 35.According to a third embodiment shown in FIG. 8, 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.

Le moteur électrique 30 comporte un arbre de sortie relié au multiplicateur hydraulique 35 par un organe de liaison formé par une crémaillère 32 qui engrène avec un pignon 32a entraíné en rotation par ledit arbre de sortie. La crémaillère 32 est reliée à chacune de ses extrémités à une tige 33 s'étendant parallèlement à ladite crémaillère 32.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.

Le multiplicateur hydraulique 35 comporte un premier piston 36 déplaçable linéairement, porté par la tige 33 et qui est disposé dans une chambre 37. La chambre 37 est divisée par le piston 36 en deux demi-chambres respectivement 37a et 37b. Le multiplicateur hydraulique 35 comprend également un second piston 38 déplaçable linéairement disposé dans une chambre 39 et porté par une tige 40 s'étendant parallèlement à la tige 33.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.

La tige 40 porte à l'une de ses extrémités le galet 8 et le piston 38 divise la chambre 39 en deux demi-chambres respectivement 39a et 39b. Les deux demi-chambres 37a et 39a communiquent entre elles par un orifice 41 et les deux demi-chambres 37b et 39b communiquent entre elles par un orifice 42.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.

Les chambres 37 et 39 sont remplies d'un fluide comme par exemple de l'huile.Rooms 37 and 39 are filled with a fluid as per example of the oil.

Le moteur électrique rotatif 30 permet, par l'intermédiaire du pignon 32a qui engrène avec la crémaillère 32, de transmettre un effort F1 au piston 36 par l'intermédiaire de la tige 33.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.

Le piston 36 déplace alors sous une pression P constante le volume de fluide de la demi-chambre 37a dans la demi-chambre 37a par l'orifice 41 ou de la demi-chambre 37b dans la demi-chambre 37b par l'orifice 42, suivant le sens de rotation du moteur 30.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.

Le déplacement du fluide dans la demi-chambre 39a ou dans la demi-chambre 39b permet le déplacement du piston 38 en appliquant par l'intermédiaire de la tige 40 une force F2 au galet 8, nécessaire pour réaliser le présertissage ou le sertissage des bords périphériques des panneaux 5 et 6. 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.

Le piston 38 présente un diamètre supérieur au piston 36 et le rapport de diamètre entre ces deux pistons 38 et 36 est aussi le rapport entre l'effort F1 fourni par le moteur électrique 30 et la force F2 appliquée au galet 8.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.

La force appliquée au galet 8 dépend du sens de rotation du moteur électrique 30 et, en fonction de la configuration du présertissage et du sertissage, cette force est appliquée audit galet 8 par traction ou par poussée.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 présertissage and the crimping, this force is applied to said roller 8 by pulling or pushing.

Le moteur électrique rotatif 30 associé à l'ensemble formé par le pignon 32a et la crémaillère 32 peut être remplacé par un moteur électrique linéaire.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.

Le dispositif selon l'invention permet de réaliser une opération de présertissage, puis une opération de sertissage par roulage du galet sur les bords périphériques des panneaux à assembler en tirant ou en poussant sur ledit galet avec une force sensiblement constante et réglable.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.

Afin de palier aux écarts de trajectoires du robot, le dispositif de sertissage selon l'invention permet une variation de positions du bras de support du galet de plus ou moins 6mm. L'effort appliqué au galet est obtenu par un couple moteur prédéterminé, en fonction du paramétrage du variateur associé.In order to overcome the robot's trajectory deviations, the device for crimping according to the invention 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.

Le dispositif selon l'invention présente l'avantage par rapport aux dispositifs utilisés jusqu'à présent d'appliquer sur le galet de présertissage et de sertissage une force sensiblement constante et réglable même pour des variations de faibles amplitudes selon l'axe YY du bras de support de ce galet de sertissage.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.

Claims (13)

Procédé d'assemblage de pièces (4) par pliage d'un bord périphérique d'un premier panneau (5) sur un bord périphérique d'au moins un second panneau (6), procédé dans lequel on réalise une opération de présertissage en pliant le bord périphérique du premier panneau (5) vers le bord périphérique du second panneau (6) et on réalise une opération de sertissage en appliquant le bord périphérique dudit premier panneau (5) sur le bord périphérique dudit second panneau (6), caractérisé en ce que l'on réalise les deux opérations avec un même galet (8) sur lequel on applique une force par traction ou par poussée et l'on déplace pour chacune des opérations ledit galet (8) sur les bords périphériques des panneaux (5, 6).A method of assembling parts (4) by folding a peripheral edge of a first panel (5) on a peripheral edge of at least a second panel (6), in which process a pre-folding operation is carried out the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6) and a crimping operation is carried out by applying the peripheral edge of said first panel (5) to the peripheral edge of said second panel (6), characterized in that the two operations is carried out with the same roller (8) on which a force is applied by pulling or by pushing and is moved for each of the operations said roller (8) on the peripheral edges of the panels (5, 6). Dispositif d'assemblage de pièces (4) par pliage d'un bord périphérique d'un premier panneau (5) sur le bord périphérique d'au moins un second panneau (6), lesdits panneaux (5, 6) étant placés sur une matrice (7) et ledit dispositif comprenant des moyens de présertissage adaptés pour plier le bord périphérique du premier panneau (5) vers le bord périphérique du second panneau (6), des moyens de sertissage adaptés pour appliquer le bord périphérique dudit premier panneau (5) sur le bord périphérique dudit second panneau (6) et des moyens de déplacement desdits moyens de présertissage et de sertissage le long des bords périphériques, caractérisé en ce que les moyens de présertissage et de sertissage sont formés par un même galet (8) monté libre en rotation à l'extrémité d'un bras de support (9) relié à des moyens (10 ; 20 ; 30; 40) d'application d'une force sur ce galet (8) par traction ou par poussée sur celui-ci.Device for assembling parts (4) by folding a peripheral edge of a first panel (5) on the peripheral edge of at least a second panel (6), said panels (5, 6) being placed on a matrix (7) and said device comprising prestressing means adapted to fold the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6), crimping means adapted to apply the peripheral edge of said first panel (5). ) on the peripheral edge of said second panel (6) and means for moving said présertissage and crimping means along the peripheral edges, characterized in that the présertissage and crimping means are formed by a same roller (8) mounted free in rotation at the end of a support arm (9) connected to means (10; 20; 30; 40) for applying a force on this roller (8) by pulling or pushing it this. Dispositif d'assemblage selon la revendication 2, caractérisé en ce que la matrice (7) comporte, à sa périphérie, un plan incliné (7a) du guidage du galet (8).Assembly device according to claim 2, characterized in that the matrix (7) comprises, at its periphery, an inclined plane (7a) of the guide of the roller (8). Dispositif d'assemblage selon la revendication 2, caractérisé en ce que les moyens d'application de la force sur le galet (8) comprennent un moteur électrique rotatif (10) et, d'une part, une bielle (14) montée pivotante sensiblement dans sa partie médiane autour d'un axe horizontal (15) et comportant une première extrémité (14a) articulée sur le bras de support (9) du galet (8) et une seconde extrémité (14b) articulée sur une bielle de commande (16) montée sur un excentrique (13) entraíné en rotation par un arbre de sortie du moteur électrique rotatif (10) et, d'autre part, un levier droit (17) comportant une première extrémité (17a) pivotante autour d'un axe horizontal (18) et une seconde extrémité (17b) articulée sur le bras de support (9).Assembly device according to claim 2, characterized in that the means for applying the force on the roller (8) comprise a rotary electric motor (10) and, on the one hand, a connecting rod (14) pivotally mounted substantially in its median portion about a horizontal axis (15) 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 an eccentric (13) driven in rotation by an output shaft of the rotary electric motor (10) and, on the other hand, a right lever (17) having a first end (17a) pivoting about a horizontal axis (18) and a second end (17b) hinged to the support arm (9). Dispositif d'assemblage selon la revendication 4, caractérisé en ce que la seconde extrémité (17b) du levier droit (17) articulée sur le bras de support (9) est disposée entre l'articulation (14a) du levier coudé (14) sur ce bras de support (9) et le galet (8).Connecting device according to claim 4, characterized in that the second end (17b) of the right lever (17) articulated on the support arm (9) is arranged between the articulation (14a) of the bent lever (14) on this support arm (9) and the roller (8). Dispositif d'assemblage selon la revendication 4 ou 5, caractérisé en ce que la distance entre l'axe horizontal (15) de l'articulation médiane de la bielle (14) et la première extrémité (14a) de cette bielle (14) est sensiblement égale à la distance séparant les deux extrémités (17a, 17b) du levier droit (17).Connecting device according to claim 4 or 5, characterized in that the distance between the horizontal axis (15) of the central articulation of the connecting rod (14) and the first end (14a) of this connecting rod (14) is substantially equal to the distance separating the two ends (17a, 17b) of the right lever (17). Dispositif d'assemblage selon la revendication 2, caractérisé en ce que les moyens d'application de la force sur le galet (8) comprennent un moteur électrique (20) à mouvement linéaire vertical et, d'une part, un premier levier (23) monté pivotant sensiblement dans sa partie médiane autour d'un axe horizontal (24) et comportant une première extrémité (23a) articulée sur le bras de support (9) du galet (8) et une seconde extrémité (23b) articulée sur un arbre de sortie (22) du moteur électrique (20) et, d'autre part, un second levier (25) comportant une première extrémité (25a) pivotant autour d'un axe horizontal (26) et une seconde extrémité (25b) articulée sur le bras de support (9).Assembly device according to claim 2, characterized in that the means for applying the force on the roller (8) comprise an electric motor (20) with a vertical linear movement and, on the one hand, a first lever (23). ) pivotally mounted substantially in its middle portion about a horizontal axis (24) and having a first end (23a) hinged to the support arm (9) of the roller (8) and a second end (23b) hinged to a shaft an output (22) of the electric motor (20) and, secondly, a second lever (25) having a first end (25a) pivotable about a horizontal axis (26) and a second end (25b) hinged to the support arm (9). Dispositif d'assemblage selon la revendication 7, caractérisé en ce que la seconde extrémité (25b) du second levier (25) articulée sur le bras de support (9) est disposée au-dessus de l'articulation (23a) du premier levier (23) sur ce bras de support (9).Connecting device according to claim 7, characterized in that the second end (25b) of the second lever (25) articulated on the support arm (9) is arranged above the articulation (23a) of the first lever ( 23) on this support arm (9). Dispositif d'assemblage selon la revendication 7 ou 8, caractérisé en ce que la distance entre l'axe horizontal (24) de l'articulation médiane du premier levier (23) et la première extrémité (23a) de ce premier levier (23) est sensiblement égale à la distance séparant les deux extrémités (25a, 25b) du second levier (25). Connecting device according to claim 7 or 8, characterized in that the distance between the horizontal axis (24) of the central articulation 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, 25b) of the second lever (25). Dispositif d'assemblage selon la revendication 2, caractérisé en ce que les moyens d'application de la force sur le galet (8) comprennent un moteur électrique (30) et un multiplicateur hydraulique (35) comportant, d'une part, un premier piston (36) déplaçable linéairement dans une chambre (37) remplie d'un fluide par un organe de liaison (32) avec un arbre de sortie du moteur (30) et, d'autre part, un second piston (38) relié au galet (8) et disposé dans une chambre (39) remplie du fluide, communiquant avec la chambre (37) du premier piston (36), ledit second piston (38) étant déplaçable linéairement par la pression du fluide lors du déplacement du premier piston (36).Assembly device according to claim 2, characterized in that the means for applying the force on the roller (8) comprise an electric motor (30) and a hydraulic multiplier (35) comprising, on the one hand, a first piston (36) linearly displaceable in a chamber (37) filled with a fluid by a connecting member (32) with an output shaft of the motor (30) and, secondly, a second piston (38) connected to the roller (8) and arranged in a chamber (39) filled with the fluid, communicating with the chamber (37) of the first piston (36), said second piston (38) being linearly displaceable by the pressure of the fluid during the displacement of the first piston (36). Dispositif d'assemblage selon la revendication 10, caractérisé en ce que le second piston (38) présente un diamètre supérieur au diamètre du premier piston (36).Connecting device according to claim 10, characterized in that the second piston (38) has a diameter greater than the diameter of the first piston (36). Dispositif d'assemblage selon la revendication 10 ou 11, caractérisé en ce que le moteur électrique (30) est un moteur électrique rotatif et l'organe de liaison est formé par une crémaillère (32) reliée au premier piston (36) et engrenant avec un pignon (32a) entraíné en rotation par l'arbre de sortie du moteur (30).Connecting device according to claim 10 or 11, characterized in that the electric motor (30) is a rotary electric motor and the connecting member is formed by a rack (32) connected to the first piston (36) and meshing with a pinion (32a) driven in rotation by the output shaft of the motor (30). Dispositif d'assemblage selon la revendication 10 ou 11, caractérisé en ce que le moteur électrique est un moteur électrique à mouvement linéaire.Assembly device according to claim 10 or 11, characterized in that the electric motor is a linear motion electric motor.
EP03291934A 2002-08-13 2003-07-31 Method of and devices for assembling workpieces by hemming a peripheral edge Expired - Lifetime EP1389498B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0210283 2002-08-13
FR0210283A FR2843549B1 (en) 2002-08-13 2002-08-13 METHOD AND DEVICE FOR ASSEMBLING WORKPIECES BY CRIMPING A PERIPHERAL EDGE

Publications (2)

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

Family

ID=30471101

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03291934A Expired - Lifetime EP1389498B1 (en) 2002-08-13 2003-07-31 Method of and devices for assembling workpieces by hemming a peripheral edge

Country Status (5)

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

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2232271A1 (en) * 2003-03-07 2005-05-16 Ingemat Sa Crimping tool for use in robot, has tensile spring whose elastic effect is removed when nut contacts sliding support, and load cell provided in bottom part of blind hole that is formed on support
WO2005082560A1 (en) * 2004-02-20 2005-09-09 Gm Global Technology Operations, Inc. Flanging device and use of a flanging device
US7124611B2 (en) 2004-10-08 2006-10-24 Valiant Corporation Roller hemming machine
FR2895690A1 (en) * 2006-01-05 2007-07-06 Process Conception Ing Sa Device for assembling components by folding, notably for use in the automobile industry for the assembly of sheets and panels by crimping
EP1958714A1 (en) * 2005-12-05 2008-08-20 HONDA MOTOR CO., Ltd. Hemming method and hemming device
WO2009015785A2 (en) * 2007-07-27 2009-02-05 Kuka Systems Gmbh Folder and folding method
CN101360573B (en) * 2005-12-05 2010-05-19 本田技研工业株式会社 Hemming working method and working apparatus
EP2868403A1 (en) * 2013-11-01 2015-05-06 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
CN104801619A (en) * 2015-05-28 2015-07-29 重庆长安汽车股份有限公司 Buckling die translation inner edge covering mechanism
CN110000297A (en) * 2019-03-28 2019-07-12 曾琼 Automatic folded-edge glass cover metal hemming edge device

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 (en) * 1996-12-20 1998-07-07 Mazda Motor Corp Roller type behemming method and device therefor
FR2774011A1 (en) * 1998-01-28 1999-07-30 Peugeot Machine for crimping sheet metal joints in motor vehicle industry
JP2001047163A (en) * 1999-07-30 2001-02-20 Toyota Auto Body Co Ltd Clamp device
JP2002102957A (en) * 2000-09-28 2002-04-09 Toyota Auto Body Co Ltd Roll hemming device and roll hemming machining method using the same

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 (en) * 1996-12-20 1998-07-07 Mazda Motor Corp Roller type behemming method and device therefor
FR2774011A1 (en) * 1998-01-28 1999-07-30 Peugeot Machine for crimping sheet metal joints in motor vehicle industry
JP2001047163A (en) * 1999-07-30 2001-02-20 Toyota Auto Body Co Ltd Clamp device
JP2002102957A (en) * 2000-09-28 2002-04-09 Toyota Auto Body Co Ltd Roll hemming device and roll hemming machining method using the same

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 (en) * 2003-03-07 2005-05-16 Ingemat Sa Crimping tool for use in robot, has tensile spring whose elastic effect is removed when nut contacts sliding support, and load cell provided in bottom part of blind hole that is formed on support
WO2005082560A1 (en) * 2004-02-20 2005-09-09 Gm Global Technology Operations, Inc. Flanging device and use of a flanging device
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 (en) * 2005-12-05 2013-12-25 本田技研工业株式会社 Hemming working method and working apparatus
EP1958714A1 (en) * 2005-12-05 2008-08-20 HONDA MOTOR CO., Ltd. Hemming method and hemming device
EP1958714A4 (en) * 2005-12-05 2008-12-03 Honda Motor Co Ltd Hemming method and hemming device
EP2108466A3 (en) * 2005-12-05 2010-01-27 Honda Motor Co., Ltd. Hemming method and hemming device
CN101360573B (en) * 2005-12-05 2010-05-19 本田技研工业株式会社 Hemming working method and working apparatus
US8272243B2 (en) 2005-12-05 2012-09-25 Honda Motor Co., Ltd. Hemming working method and working apparatus
WO2007077377A3 (en) * 2006-01-05 2007-08-23 Process Conception Ingenerie S Device for assembling parts by means of bending
WO2007077377A2 (en) * 2006-01-05 2007-07-12 Process Conception Ingenerie Sa Device for assembling parts by means of bending
FR2895690A1 (en) * 2006-01-05 2007-07-06 Process Conception Ing Sa Device for assembling components by folding, notably for use in the automobile industry for the assembly of sheets and panels by crimping
CN101356026B (en) * 2006-01-05 2010-09-08 加工设计工程股份有限公司 Device for assembling parts by means of bending
WO2009015785A2 (en) * 2007-07-27 2009-02-05 Kuka Systems Gmbh Folder and folding method
WO2009015785A3 (en) * 2007-07-27 2009-04-23 Kuka Systems Gmbh Folder and folding method
EP2868403A1 (en) * 2013-11-01 2015-05-06 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
CN104608114A (en) * 2013-11-01 2015-05-13 株式会社安川电机 Robot system and method for producing to-be-processed material
US9908160B2 (en) 2013-11-01 2018-03-06 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
CN104801619A (en) * 2015-05-28 2015-07-29 重庆长安汽车股份有限公司 Buckling die translation inner edge covering mechanism
CN104801619B (en) * 2015-05-28 2016-11-02 重庆长安汽车股份有限公司 Edge covering mechanism in locked die translation
CN110000297A (en) * 2019-03-28 2019-07-12 曾琼 Automatic folded-edge glass cover metal hemming edge device
CN110000297B (en) * 2019-03-28 2020-11-20 曾琼 Automatic edge-covering type glass cover metal edge-covering device

Also Published As

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

Similar Documents

Publication Publication Date Title
EP1389498B1 (en) Method of and devices for assembling workpieces by hemming a peripheral edge
EP2021647B1 (en) Under travel actuator, particularly for an automobile clutch
FR2588629A1 (en) DEVICE FOR CONTROLLING A COUPLING MEANS SUCH AS FOR EXAMPLE A CLUTCH OR A SPEED DRIVE OR A BRAKE OR THE LIKE
EP2182156B1 (en) Device for damping a door of a military vehicle
EP0301964B1 (en) Drilling and riveting machine
EP0664859B1 (en) Small brake booster
EP0064421B1 (en) Remote control device for a vehicle's rear view mirror
EP0168331B1 (en) Machine for bending of tubes, bars or profiles
CA2730163C (en) Direct drive variable crimp on flange tool
EP1370388A1 (en) Driving device and clamping tool equipped with same
FR3001296A1 (en) LOOP MEASURING CLAMP IN PARTICULAR EARTH OF THE TYPE COMPRISING A SOLIDARITY JAR OF A FIXED SUPPORT AND A PIVOTING MOUNTED JAW ON THE SUPPORT
EP1138434B1 (en) Electrically-powered equipment for a gripper
EP0174410A1 (en) Apparatus for the successive automatic control of at least two processes or operations
EP0918580B1 (en) Device for moving part of a machine and for exerting a force at the end of its stroke
FR2716141A1 (en) Device for adjusting the folding shutters of a cylinder with folding shutters.
EP1122031A1 (en) Clamping tool and especially crimping tool
FR2810381A1 (en) Actuator for clutch assembly comprises a motor driving a toothed wheel cooperating with a curved rack at one end of a connecting rod which is linked to the sliding piston
EP2035164B1 (en) Device and method for joining two sheet-metal panels by crimping
EP0064422B1 (en) Remote-control device of a vehicle's rear view mirror
FR2625460A1 (en) WORK HEAD FOR TREE-SHAPING MACHINE
EP0370914A1 (en) Clamping head with clearance compensation
FR2711726A1 (en) Device for operating a window with adjustable slats, of the slatted blind type
FR2828918A1 (en) TIGHTENING DEVICE FOR WHEEL BRAKES
FR2733455A1 (en) Folding cylinder blade regulator e.g. for folding newspapers
FR2581573A1 (en) DEVICE FOR MACHINING THE SHEET, ESPECIALLY AN IMPROVED SHEAR

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

17P Request for examination filed

Effective date: 20040730

AKX Designation fees paid

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

17Q First examination report despatched

Effective date: 20091214

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

RTI1 Title (correction)

Free format text: METHOD OF AND DEVICES FOR ASSEMBLING WORKPIECES BY HEMMING A PERIPHERAL EDGE

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 556792

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120515

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20120531

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: FRENCH

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2382732

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20120613

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 60340874

Country of ref document: DE

Effective date: 20120705

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20120509

REG Reference to a national code

Ref country code: SK

Ref legal event code: T3

Ref document number: E 11986

Country of ref document: SK

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 556792

Country of ref document: AT

Kind code of ref document: T

Effective date: 20120509

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120810

BERE Be: lapsed

Owner name: PROCESS CONCEPTION INGENIERIE S.A.

Effective date: 20120731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20130212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 60340874

Country of ref document: DE

Effective date: 20130212

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120809

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120509

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20030731

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20160627

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SK

Payment date: 20160621

Year of fee payment: 14

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20160622

Year of fee payment: 14

Ref country code: IT

Payment date: 20160627

Year of fee payment: 14

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 60340874

Country of ref document: DE

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20170731

REG Reference to a national code

Ref country code: SK

Ref legal event code: MM4A

Ref document number: E 11986

Country of ref document: SK

Effective date: 20170731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20180201

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20170731

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20200623

Year of fee payment: 18

Ref country code: PT

Payment date: 20200623

Year of fee payment: 18

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20200803

Year of fee payment: 18

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220131

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210731

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20220902

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210801