EP1389498B1 - Method of and devices for assembling workpieces by hemming a peripheral edge - Google Patents

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

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Publication number
EP1389498B1
EP1389498B1 EP03291934A EP03291934A EP1389498B1 EP 1389498 B1 EP1389498 B1 EP 1389498B1 EP 03291934 A EP03291934 A EP 03291934A EP 03291934 A EP03291934 A EP 03291934A EP 1389498 B1 EP1389498 B1 EP 1389498B1
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EP
European Patent Office
Prior art keywords
peripheral edge
panel
roller
support arm
crimping
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.)
Expired - Lifetime
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EP03291934A
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German (de)
French (fr)
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EP1389498A1 (en
Inventor
Bruno Martinais
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Process Conception Ingenierie SA
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Process Conception Ingenierie SA
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Publication of EP1389498A1 publication Critical patent/EP1389498A1/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02Application 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
    • B21D39/021Application 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02Application 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
    • B21D39/021Application 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
    • B21D39/023Application 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 devices for assembling parts by crimping according to the preamble of claims 1, 2, 6 and 9 (see, for example, US 5,267,387 ).
  • parts consisting of at least two metal panels intended to form for example caps, 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 peripheral edge of the bottom panel is folded toward the peripheral edge of the top panel and, during a crimping operation, the peripheral edge of the bottom panel is folded over the peripheral edge of the upper panel by exerting pressure on said peripheral edges.
  • a crimping unit which comprises a robot equipped with an assembly device forming a crimping head which notably comprises a support arm of a free-rotating roller.
  • the robot moves the device along a path recorded along the peripheral edges of the panels by rolling under pressure 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 or pneumatic cylinder or by means of a motor electric associated with a ball screw.
  • the object of the invention is to propose a method and a device for assembling parts by crimping which avoid the aforementioned drawbacks.
  • 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 a second panel according to claim 1.
  • the invention also relates to devices for assembling parts by folding a peripheral edge of a first panel on the peripheral edge of at least one second panel according to claims 2, 6 and 9 respectively. rotation at the end of an arm connected to means for applying a force on the roller by pulling or pushing on it.
  • FIG. 1 schematically shows a crimping unit which comprises a robot designated by the general reference 1 having an arm 2 movable along a plurality of axes and to which a predetermined displacement path is recorded.
  • the front end of the robot arm 2 is equipped with a device according to the invention and designated as a whole by the reference 3.
  • a part designated as a whole by the reference 4 constituted for example by a hood or a motor vehicle door and which is composed 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 and 6 each have a peripheral portion folded beforehand upwards, substantially at right angles.
  • the device comprises prestressing means adapted to fold the peripheral edge of the first panel 5 towards the peripheral edge of the second panel 6, as shown in FIGS. 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. Figs. 3A and 3B .
  • Preserting and crimping means are formed by a single roller 8 mounted free to rotate 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 which will be described later.
  • the means for applying a force on the roller 8 via the arm 9 apply this force either by pulling on said roller 8 during the operation of Preservation ( Fig. 2A ) and / or the crimping operation ( Fig. 3A ) by applying a force by pushing on said roller 8 during the prestressing operation ( 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 is supported during the prestressing operation.
  • the means for applying a force on the roller 8 by pulling or pushing on it both during the prestressing operation 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 rotates an eccentric 13.
  • the force application means on the roller 8 also comprise a rod 14 pivotally mounted substantially in its median portion about a horizontal axis 15 supported by the frame 11 and having a first end 14a hinged to 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 comprise a right lever 17 having a first end 17a pivoting about a horizontal axis 18 extending parallel to the horizontal axis 15 of the 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 may be arranged for example above the hinge 14a.
  • the distance between the hinge axis 15 of the connecting rod 14 and the first end 14a of this rod 14 hinged to the arm 9 is substantially equal to the distance separating the two ends 17a and 17b of the right lever 17 so as to form a parallelogram system.
  • the rotary electric motor 10 drives in rotation through the output shaft 12 the eccentric 13 which transmits the force 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 through the right lever 17, puts the roller 8 in contact with the peripheral edges of the panels 5 and 6 to assemble and apply a force on this roller 8.
  • the guide of this support arm 9 is provided by four friction plates 19, as shown in FIG. Fig. 5 .
  • the direction of rotation of the electric motor 10 depends on the configuration of the torquesertissage and the crimping and in the direction of rotation of this motor 10, a traction or a thrust is applied on the roller 8 via the arm 9.
  • the force application means 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 a vertical linear motion electric motor comprising an output shaft 22 and the force application means also comprise, on the one hand, a first pivotally mounted lever 23 substantially in its median portion about a horizontal axis 24 supported by the frame 21 and having a first end 23a hinged to the support arm 9 and a second end 23b hinged to the output shaft 22 of the electric motor 20 and, d on the other hand, 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 hinged to 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 hinged to said support arm 9.
  • the articulation of the end 23b of the lever 23 is mounted in a oblong hole 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 the 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 arranged 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, rotates, 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 parallelogram movement obtained by the levers 23 and 24, the roller 8 in contact with the peripheral edges of the panels 5 and 6 to crimp and applies on said roller said force.
  • the guidance along the axis YY of the arm 9 is provided by four friction plates 28, as shown in FIG. Fig. 7 .
  • the direction of translation of the electric motor 20 depends on the configuration of the pre-press and crimping and, according to this configuration, the electric motor 20 applies via the levers 23 and 25 and the support arm 9, on the roller 8 is a traction, or pressure.
  • the means of application of the force on the roller 8 comprise an electric motor rotary device 30 fixed on a frame 31 carried by the robot arm 2 and a hydraulic multiplier designated by the general reference 35.
  • the electric motor 30 comprises 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 linearly movable first piston 36 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 37a and 37b, respectively.
  • the hydraulic multiplier 35 also comprises a second linearly displaceable piston 38 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 39a and 39b respectively.
  • 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.
  • Chambers 37 and 39 are filled with a fluid such as oil.
  • the rotary electric motor 30 allows, via the pinion 32a which meshes with the rack 32, to transmit a force F1 to the piston 36 via the rod 33.
  • the piston 36 then moves under a constant pressure P the volume of fluid 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 movement of the fluid in the half-chamber 39a or in the half-chamber 39b allows the displacement of the piston 38 by applying via the rod 40 a force F2 to the roller 8, necessary to perform the prestressing or crimping the edges peripherals of panels 5 and 6.
  • the piston 38 has a greater diameter than the piston 36 and the ratio of diameter 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 rotary electric motor 30 associated with the assembly formed by the pinion 32a and the rack 32 can be replaced by a linear electric motor.
  • the device according to the invention makes it possible to carry out a prestressing operation, 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 crimping device 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 setting of the associated drive.
  • the device according to the invention has the advantage over the devices used until now to apply to the prestressing and crimping roller a substantially constant and adjustable force even for variations of small amplitude along the YY axis of the arm support of this crimping roller.

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  • 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 des dispositifs d'assemblage de pièces par sertissage conformément au préambule des revendications 1, 2, 6 et 9 (voir, par exemple, US 5 267 387 ).The present invention relates to a method and devices for assembling parts by crimping according to the preamble of claims 1, 2, 6 and 9 (see, for example, US 5,267,387 ).

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 automotive field, parts consisting of at least two metal panels intended to form for example caps, 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 prestressing operation, the peripheral edge of the bottom panel is folded toward the peripheral edge of the top panel and, during a crimping operation, the peripheral edge of the bottom panel is folded over the peripheral edge of the upper panel by 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 crimping head which notably comprises a support arm of a free-rotating roller.

US 5 267 387 décrit une telle utilisation d'un robot dans une unité de sertissage d'une pièce sur une autre pièce, tout comme le font JP 101 80 373 et JP 2002 102 957 . US 5,267,387 describes such a use of a robot in a crimping unit of a room on another room, just as do JP 101 80 373 and JP 2002 102 957 .

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 under pressure 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 the crimping devices previously used, the force is applied to the roller by a spring mechanism or by a mechanism with force control by means of a hydraulic or pneumatic cylinder or by means of a motor electric associated with a ball screw.

Ces mécanismes sont conçus pour exercer une poussée sur le galet.These mechanisms are designed to exert a thrust 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 be assembled, the operations of présertissage and / or crimping which must be performed by pushing on the roller, 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.Therefore, the time required to assemble the panels is increased by the disassembly and assembly of 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 peripheral edges 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 for assembling parts by crimping which avoid the aforementioned drawbacks.

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 conformément à la revendication 1.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 a second panel according to claim 1.

L'invention a aussi pour objet des dispositifs d'assemblage de pièces par pliage d'un bord périphérique d'un premier panneau sur le bord périphérique d'au moins un second panneau conformément aux revendications 2, 6 et 9 respectivement. 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 invention also relates to devices for assembling parts by folding a peripheral edge of a first panel on the peripheral edge of at least one second panel according to claims 2, 6 and 9 respectively. rotation at the end of an arm connected to means for applying a force on the 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,
According to other features of the invention:
  • the matrix comprises, at its periphery, an inclined plane for guiding the roller,

Les caractéristiques et avantages de l'invention apparaîtront 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 features 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:
  • the Fig. 1 is a schematic view in elevation of a crimping unit equipped with a device according to the invention,
  • the Figs. 2A and 2B are two schematic views of a roller of the device showing two working modes of this roller during the prestressing operation,
  • the Figs. 3A and 3B are schematic views of a roller of the device showing two working modes of this roller during the crimping operation,
  • the Fig. 4 is a schematic view in vertical section of a first embodiment of the means for applying a force on the roller,
  • the Fig. 5 is a side view along the arrow F1 of the Fig. 4 ,
  • the Fig. 6 is a schematic vertical sectional view of a second embodiment of the means for applying a force to the roller,
  • the Fig. 7 is a side view along arrow F2 of the Fig. 6 ,
  • the 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.On the Fig. 1 schematically shows a crimping unit which comprises a robot designated by the general reference 1 having an arm 2 movable along a plurality of axes and to which a predetermined displacement path is recorded. The front end of the robot arm 2 is equipped with a device according to the invention and designated as a whole by the 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 et 6 ont chacun une portion périphérique repliée au préalable vers le haut, sensiblement à angle droit.On the Fig. 1 , there is also shown a part designated as a whole by the reference 4, constituted for example by a hood or a motor vehicle door and which is composed 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 and 6 each have 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 prestressing means adapted to fold the peripheral edge of the first panel 5 towards the peripheral edge of the second panel 6, as shown in FIGS. 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. Figs. 3A and 3B . Preserting and crimping means are formed by a single roller 8 mounted free to rotate 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 which 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).According to the configuration of the panels 5 and 6 to be assembled by crimping, the means for applying a force on the roller 8 via the arm 9 apply this force either by pulling on said roller 8 during the operation of Preservation ( Fig. 2A ) and / or the crimping operation ( Fig. 3A ) by applying a force by pushing on said roller 8 during the prestressing operation ( 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 on the Figs. 2A and 2B , the matrix 7 comprises at its periphery, an inclined plane 7a on which the roller 8 is supported during the prestressing operation.

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 on the Figs. 4 and 5 , the means for applying a force on the roller 8 by pulling or pushing on it both during the prestressing operation 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 entraîne 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 rotates 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 force application means on the roller 8 also comprise a rod 14 pivotally mounted substantially in its median portion about a horizontal axis 15 supported by the frame 11 and having a first end 14a hinged to 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 comprise a right lever 17 having a first end 17a pivoting about a horizontal axis 18 extending parallel to the horizontal axis 15 of the 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 may be arranged for example above the hinge 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 rod 14 hinged to the arm 9 is substantially equal to the distance separating the two ends 17a and 17b of the right lever 17 so as to form a parallelogram system.

Le moteur électrique rotatif 10 entraîne 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 through the output shaft 12 the eccentric 13 which transmits the force 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 through the right lever 17, puts the roller 8 in contact with the peripheral edges of the panels 5 and 6 to assemble and apply 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 guide of this support arm 9 is provided by four friction plates 19, as shown in FIG. 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 configuration of the présertissage and the crimping and in the direction of rotation of this motor 10, a traction or a thrust is applied on the roller 8 via 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 on the Figs. 6 and 7 , the force application means 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 a vertical linear motion electric motor comprising an output shaft 22 and the force application means also comprise, on the one hand, a first pivotally mounted lever 23 substantially in its median portion about a horizontal axis 24 supported by the frame 21 and having a first end 23a hinged to the support arm 9 and a second end 23b hinged to the output shaft 22 of the electric motor 20 and, d on the other hand, 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 hinged to 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 hinged to said support arm 9. The articulation of the end 23b of the lever 23 is mounted in a oblong hole 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 the 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 arranged 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, rotates, 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 parallelogram movement obtained by the levers 23 and 24, the roller 8 in contact with the peripheral edges of the panels 5 and 6 to crimp and applies on said 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 axis YY of the arm 9 is provided by four friction plates 28, as shown in FIG. 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 configuration of the pre-press and crimping and, according to this configuration, the electric motor 20 applies via the levers 23 and 25 and the support arm 9, on the roller 8 is a traction, or 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 of application of the force on the roller 8 comprise an electric motor rotary device 30 fixed on a frame 31 carried by the robot arm 2 and a hydraulic multiplier designated by the 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 entraîné 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 comprises 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 linearly movable first piston 36 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 37a and 37b, respectively. The hydraulic multiplier 35 also comprises a second linearly displaceable piston 38 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 39a and 39b respectively. 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.Chambers 37 and 39 are filled with a fluid such as 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 the 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 volume of fluid 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 movement of the fluid in the half-chamber 39a or in the half-chamber 39b allows the displacement of the piston 38 by applying via the rod 40 a force F2 to the roller 8, necessary to perform the prestressing or crimping the edges peripherals 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 ratio of diameter 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 présertissage and crimping, this force is applied to said roller 8 by traction or by 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 a linear electric motor.

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 prestressing operation, 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 crimping device 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 setting 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 the devices used until now to apply to the prestressing and crimping roller a substantially constant and adjustable force even for variations of small amplitude along the YY axis of the arm support of this crimping roller.

Claims (12)

  1. Method for assembling parts (4) by bending a peripheral edge of a first panel (5) over a peripheral edge of at least a second panel (6), in which method a pre-crimping operation is performed by bending the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6) and a crimping operation is performed by applying the peripheral edge of said first panel (5) to the peripheral edge of said second panel (6), characterised in that the peripheral edge of each of the panels (5, 6) is first bent upwards at an angle that is substantially perpendicular to the base of the panels (5, 6) and in that the two operations are performed via the same roller (8), to which a force is applied by pulling or pushing, and for each of the operations said roller (8) is displaced over the peripheral edges of the panels (5, 6).
  2. Device for assembling parts (4) by bending a peripheral edge of a first panel (5) over the peripheral edge of at least a second panel (6), said panels (5, 6) being placed on a matrix (7) and said device comprising pre-crimping means capable of bending the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6), crimping means capable of applying the peripheral edge of said first panel (5) to the peripheral edge of said second panel (6) and means for moving said pre-crimping means and crimping means along the peripheral edges, the pre-crimping means and crimping means being formed by the same roller (8) mounted freely in rotation at the end of a support arm (9) which is connected to means (10; 20; 30; 40) for applying a force to this roller (8) by pulling or pushing it, characterised in that the means for applying the force to the roller (8) comprise a rotary electric motor (10) and, on the one hand, a link (14) which is pivotably mounted substantially in the central portion thereof about a horizontal pin (15) and comprises a first end (14a) which is articulated to the support arm (9) of the roller (8) and a second end (14b) which is articulated to a control link (16) mounted on a cam (13) which is driven in rotation by an output shaft of the rotary electric motor (10) and, on the other hand, a straight lever (17) comprising a first end (17a) which pivots about a horizontal axis (18) and a second end (17b) which is articulated to the support arm (9).
  3. Assembly device according to claim 2, characterised in that the matrix (7) comprises, at the periphery thereof, an inclined plane (7a) for guiding the roller (8).
  4. Assembly device according to claim 2, characterised in that the second end (17b) of the straight lever (17), which end is articulated to the support arm (9), is arranged between the hinge (14a) of the bell-crank lever (14) to this support arm (9) and the roller (8).
  5. Assembly device according to either claim 2 or claim 4, characterised in that the distance between the horizontal pin (15) of the central hinge of the link (14) and the first end (14a) of this link (14) is substantially equal to the distance separating the two ends (17a, 17b) of the straight lever (17).
  6. Device for assembling parts (4) by bending a peripheral edge of a first panel (5) over the peripheral edge of at least a second panel (6), said panels (5, 6) being placed on a matrix (7) and said device comprising pre-crimping means capable of bending the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6), crimping means capable of applying the peripheral edge of said first panel (5) to the peripheral edge of said second panel (6) and means for moving said pre-crimping means and crimping means along the peripheral edges, the pre-crimping means and crimping means being formed by the same roller (8) mounted freely in rotation at the end of a support arm (9) which is connected to means (10; 20; 30; 40) for applying a force to this roller (8) by pulling or pushing it, characterised in that the means for applying the force to the roller (8) comprise an electric motor (20) which moves vertically in a linear manner and, on the one hand, a first lever (23) which is pivotally mounted substantially in the central portion thereof about a horizontal axis (24) and which comprises a first end (23a) which is articulated to the support arm (9) of the roller (8) and a second end (23b) which is articulated to an output shaft (22) of the electric motor (20) and, on the other hand, a second lever (25) comprising a first end (25a) which pivots about a horizontal axis (26) and a second end (25b) which is articulated to the support arm (9).
  7. Assembly device according to claim 6, characterised in that the second end (25b) of the second lever (25), which end is articulated to the support arm (9), is arranged above the hinge (23a) of the first lever (23) to this support arm (9).
  8. Assembly device according to either claim 6 or claim 7, characterised in that the distance between the horizontal axis (24) of the central hinge 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).
  9. Device for assembling parts (4) by bending a peripheral edge of a first panel (5) over the peripheral edge of at least a second panel (6), said panels (5, 6) being placed on a matrix (7) and said device comprising pre-crimping means capable of bending the peripheral edge of the first panel (5) towards the peripheral edge of the second panel (6), crimping means capable of applying the peripheral edge of said first panel (5) to the peripheral edge of said second panel (6) and means for moving said pre-crimping means and crimping means along the peripheral edges, the pre-crimping means and crimping means being formed by the same roller (8) mounted freely in rotation at the end of a support arm (9) which is connected to means (10; 20; 30; 40) for applying a force to this roller (8) by pulling or pushing it, characterised in that the means for applying the force to the roller (8) comprise an electric motor (30) and a hydraulic multiplier (35) comprising, on the one hand, a first piston (36) which is movable in a linear manner within a chamber (37), which is filled with a fluid, by a member (32) linking to an output shaft of the motor (30) and, on the other hand, a second piston (38) which is connected to the roller (8) and arranged in a chamber (39) which is filled with fluid and which communicates with the chamber (37) of the first piston (36), said second piston (38) being movable in a linear manner by the pressure of the fluid when the first piston (36) is displaced.
  10. Assembly device according to claim 9, characterised in that the second piston (38) has a diameter which is greater than the diameter of the first piston (36).
  11. Assembly device according to either claim 9 or claim 10, characterised in that the electric motor (30) is a rotary electric motor and the linking member is formed by a rack (32) which is connected to the first piston (36) and meshes with a pinion (32a) which is driven in rotation by the output shaft of the motor (30).
  12. Assembly device according to either claim 9 or claim 10, characterised in that the electric motor (30) is an electric motor which moves in a linear manner.
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

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

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

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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
DE102004008821A1 (en) * 2004-02-20 2005-09-08 Adam Opel Ag Crimping device and use of a crimping device
US7124611B2 (en) 2004-10-08 2006-10-24 Valiant Corporation Roller hemming machine
CN101811164B (en) * 2005-12-05 2013-07-10 本田技研工业株式会社 Hemming working method and hemming working apparatus
JP4562648B2 (en) * 2005-12-05 2010-10-13 本田技研工業株式会社 Hemming machine
FR2895690B1 (en) * 2006-01-05 2009-07-03 Process Conception Ing Sa DEVICE FOR ASSEMBLING PARTS BY FOLDING
DE202007010595U1 (en) * 2007-07-27 2008-12-04 Kuka Systems Gmbh folding device
JP5971226B2 (en) * 2013-11-01 2016-08-17 株式会社安川電機 Robot system and method of manufacturing workpiece
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
CN110000297B (en) * 2019-03-28 2020-11-20 曾琼 Automatic edge-covering type glass cover metal edge-covering device

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US5267387A (en) * 1991-08-01 1993-12-07 Triengineering Co., Ltd. Method for hemming a workpiece having an upturned edge
JP3829383B2 (en) * 1996-12-20 2006-10-04 マツダ株式会社 Roller type hemming method and apparatus
FR2774011B1 (en) * 1998-01-28 2000-04-14 Peugeot PRESERTING AND / OR CRIMPING DEVICE
JP2001047163A (en) * 1999-07-30 2001-02-20 Toyota Auto Body Co Ltd Clamp device
JP3669259B2 (en) * 2000-09-28 2005-07-06 トヨタ車体株式会社 Roll hemming method and roll hemming apparatus used therefor

Also Published As

Publication number Publication date
ATE556792T1 (en) 2012-05-15
FR2843549B1 (en) 2005-05-27
PT1389498E (en) 2012-06-06
EP1389498A1 (en) 2004-02-18
FR2843549A1 (en) 2004-02-20
ES2382732T3 (en) 2012-06-13

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