EP1447155A1 - Outil de sertissage à rouleau et méthode de sertissage - Google Patents

Outil de sertissage à rouleau et méthode de sertissage Download PDF

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Publication number
EP1447155A1
EP1447155A1 EP03001105A EP03001105A EP1447155A1 EP 1447155 A1 EP1447155 A1 EP 1447155A1 EP 03001105 A EP03001105 A EP 03001105A EP 03001105 A EP03001105 A EP 03001105A EP 1447155 A1 EP1447155 A1 EP 1447155A1
Authority
EP
European Patent Office
Prior art keywords
hemming
roller
clamp
supporting means
support
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
EP03001105A
Other languages
German (de)
English (en)
Other versions
EP1447155B1 (fr
Inventor
Colin Oliver Muller
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.)
Comau SpA
Original Assignee
Comau SpA
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 Comau SpA filed Critical Comau SpA
Priority to AT03001105T priority Critical patent/ATE294651T1/de
Priority to ES03001105T priority patent/ES2238640T3/es
Priority to EP03001105A priority patent/EP1447155B1/fr
Priority to DE60300614T priority patent/DE60300614T2/de
Publication of EP1447155A1 publication Critical patent/EP1447155A1/fr
Application granted granted Critical
Publication of EP1447155B1 publication Critical patent/EP1447155B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

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

Definitions

  • the present invention relates to a roller-type hemming tool and a method for performing a hemming operation with the aid of this tool.
  • the invention is directed in particular to a hemming tool for an industrial robot, comprising a support for connection to a robot wrist and at least one hemming roller rotatably mounted, either directly or indirectly, on said support.
  • Hemming tools of the above indicated type are disclosed for instance in documents JP-A-42 53 524, JP-A-21 97 331, JP-A-612 62 432 and EP-B-0 525 759. These tools are used for performing hemming operations on sheet metal pieces, such as the sheet metal panels forming the structure of a car body part or subassembly, for instance the structure of a car door.
  • the two sheet-metal panels forming a structure of this type are joined to each other by a hemming operation performed along the periphery of the structure or at least along portions thereof.
  • a peripheral edge portion of one of the two sheet metal panels is initially bent at 90° and the corresponding edge portion of the other panel is configured flat and juxtaposed to the other panel immediately adjacent to the edge portion bent at 90°.
  • the hemming operation is typically performed in two subsequent stages. In a first stage, the 90° portion is initially bent towards the other panel by about 45°. In a second stage, the 45° bent portion is further bent by another angle of about 45° so as to be pressed flat against the other panel.
  • a tool with at least one rotatable hemming roller is mounted on the wrist of an industrial robot. The robot moves and presses the roller along the peripheral edge of the pieces to be hemmed.
  • the two stages of the hemming operation are performed by two subsequent passages of the hemming roller or rollers along the periphery of the structure to be hemmed. In a first passage, the 45° bending is performed, and in a second subsequent passage, the hemming operation is completed by a further 45° bending step.
  • the main purpose of the present invention is that of providing a hemming tool and method by which the above indicated drawback can be overcome.
  • the invention provides a hemming tool, particularly for an industrial robot, comprising a support and at least one hemming roller rotatably mounted, either directly or indirectly, on said support, characterized in that said tool further comprises:
  • the structure to be hemmed is located on a supporting jig or die, whereupon the robot carrying the hemming tool is controlled so that this tool moves relative to the portion of the structure to be processed.
  • This operation is carried out by "clamping" the die, along with the structure located thereon, between the hemming roller and the guiding roller.
  • the hemming roller is pressed against the portion to be bent, while the guiding roller is kept in contact with an oppositely facing surface of the die.
  • the above mentioned clamp-like roller supporting means includes a first arm and a second arm pivotably mounted relative to each other, at least one of said hemming roller and said guiding roller being carried by one of said first and second arms.
  • the clamp-like supporting means further include an actuator interposed between said first and second arms for controlling the relative position thereof.
  • this actuator which applies the load which is necessary for the hemming operation, by "closing" the clamp means on the structure to be hemmed, with the hemming roller pressed in contact against a surface of the structure to be hemmed and the guiding roller pressed against an oppositely facing surface of the die on which the structure to be hemmed is supported.
  • a further important feature of the tool of the invention lies in that said clamp-like roller supporting means is pivotable, as a whole unit, around a first axis relative to said support.
  • the clamp-like roller supporting means constitute a sort of "trolley" which is able to follow automatically the height variations of the profile of the structure to be hemmed, by oscillating around the above mentioned first axis, while the hemming tool is moved relative to the portion to be hemmed.
  • the above mentioned first arm of the clamp-like roller supporting means is pivotably mounted onto said support around the above mentioned first axis (around which the whole unit can oscillate), and said second arm is pivotably mounted on to said first arm around a second axis parallel to said first axis.
  • the guiding roller is rotatably mounted onto the second arm, while the hemming roller is rotatably mounted onto one of said support and said first arm.
  • the hemming roller is rotatably mounted onto the support and has an axis coincident with said first axis around which the whole unit can oscillate.
  • the hemming tool further comprises a second hemming roller adjacent to the above mentioned first hemming roller.
  • the two hemming rollers can be shaped and arranged so that they are able to perform the first 45° bending operation and the second final bending during a single passage of the tool along the portion to be processed.
  • the first hemming roller which is to perform the first 45° bending operation is rotatably mounted on the support with its axis coincident with the first axis (around which the whole clamp-like unit is able to oscillate), whereas the second hemming roller which is to perform the final bending operation is carried by the above mentioned first arm of the clamp-like supporting means.
  • the first hemming roller performs the first 45° bending while proceeding along the portion
  • the second hemming roller which is located immediately behind the first hemming roller with reference to the direction of movement, performs the second and final bending immediately after the first bending carried out by the first roller.
  • the guiding roller follows an oppositely facing surface of the die on which the structure to be hemmed is located.
  • the actuator controlling the relative position of the first and the second arm may be a fluid cylinder interposed between these arms.
  • the actuator is a pneumatic cylinder which has an intrinsic elasticity which allows for limited relative movements of the first and second arms of the clamp-like device due to variations of the profile of the structure to be processed which are encountered while the rollers proceed along this structure.
  • the present invention is also directed to the hemming method which is performed with the use of the above described hemming tool.
  • FIG 1 shows a typical installation where the tool according to the invention can be used, for processing car door structures.
  • a car door is typically formed by two sheet metal panels joined to each other along at least a portion of their periphery by a hemming operation.
  • an installation 1 is provided with a central column 2, and a number of stations 3 (only two of which are shown in figure 1) arranged around the central column 2.
  • one station 3 is shown with a column 4 carrying a die 5 (see also figure 2) on which a door structure 6 is supported.
  • the door structure 6 is formed by two sheet metal panels which are placed in contact with each other and kept in this position by a holding rack 7 carried at the lower end of a vertical arm 8 supported at its upper end by a bracket 9 attached to the central column 2.
  • the two panels constituting the door structure are joined to each other by a hemming operation which is performed with the aid of a hemming tool 10 according to the present invention.
  • the hemming tool 10 is carried by the wrist of an industrial robot 11 which is mounted at the top of the central column 2. It must be noted however that both the structure and the arrangement of the robot carrying the hemming tool according to the invention may widely vary with respect to what is illustrated herein purely by way of example. Moreover, in particular applications, it is not excluded that the tool of the invention can be mounted on any type of carriage movable and controlled along a given direction rather than on an articulated robot.
  • the expression "industrial robot” must be interpreted in a very broad sense, as meaning any type of structure which can be moved along at least one direction in a controllable manner. Furthermore, it is not excluded herein even the case where the hemming tool is stationary and the structure to be processed is caused to move relative to the hemming tool. Therefore, the present invention is also directed to the hemming tool per se, irrespective of whether this hemming tool is to be mounted on a robot or not.
  • the hemming tool 10 comprises a support 10 which is rigidly connected to the wrist 12 of the robot 11.
  • the support 12 includes two vertical side plates 12a screwed at the top to respective sides of a horizontal plate 12b.
  • the hemming tool of the invention comprises two hemming rollers and one guiding roller.
  • a first hemming roller 13, which will be described in detail herein under, is freely rotatably supported around a first axis 14 on the lower end of one side plate 12a of the support 12 by means of a pin 15 (see figure 7) which is arranged through coaxial holes 16 formed in the lower ends of both side plates 12a of support 12.
  • the roller 17 is freely rotatably mounted around axis 18 by means of a pin 21 (figure 7) which engages a hole 22 formed in arm 19.
  • the arm 19 has a fork-like structure (see figure 7) comprising two side plates 19a connected at the top by a plate 19b.
  • the above described first arm 19 of the clamp-like unit 20 is pivotably mounted around the same axis 14 of roller 13 with respect to support 12.
  • the side plates 19a of arm 19 have coaxial holes 23 (one of which is visible in figure 7) which receive the above mentioned pin 15 on which roller 13 is supported.
  • the clamp-like unit 20 includes a second arm 24 which is arranged in the space between side plates 19a of the first arm 19 and is pivotably connected to the first arm 19 around a third axis 25 parallel to axes 14, 18. To this end the two side plates 19a of arm 19 and arm 24 have aligned holes 26, 27 for engagement of a common shaft (not shown). In proximity to its lower end, the second arm 24 carries a guiding roller 28 which is freely rotatable around a fourth axis 29 parallel to axes 14, 18, 25. To this end, the lower end of arm 24 is provided with an enlarged portion 24a (see figure 7) having a through hole 30 which receives a pin 31 for rotatably supporting the roller 28.
  • the two arms 19, 24 form a clamp-like unit.
  • the two arms are pivotable relative to each other around axis 25, so as to be movable between an opened condition, shown in figures 3-5, in which the guiding roller 29 is relatively spaced apart from rollers 13, 17, and a closed condition (not shown) in which the guiding roller 29 is closer to rollers 13, 17.
  • the relative position of arms 19, 24 is controlled by a pneumatic cylinder 32 which is operatively interposed between these arms.
  • the casing 33 of the cylinder is rigidly connected to arm 19, whereas the stem of the cylinder is pivotably connected at 34 to the upper end of the second arm 24.
  • the casing 33 of cylinder 32 is screwed to two side blocks 35 (figure 7) which in turn are screwed to plate 19b of arm 19.
  • an activation of the cylinder 32 causes a change in the relative position of arms 19, 24 of the clamp-like supporting unit 20.
  • the hemming tool 10 is provided with another group of three rollers 37, 38, 39 on the side of the tool opposite to that carrying rollers 13, 17, 28.
  • Roller 37 is rotatably mounted onto a respective side plate 12a of support 12 by means of pin 15 (figure 7).
  • Roller 38 is rotatably mounted on arm 19, on the side opposite to that carrying roller 17, by means of pin 21.
  • roller 39 is rotatably mounted at the lower end of the second arm 24, on the side opposite to that carrying roller 28, by means of pin 21.
  • FIG. 6 of the accompanying drawings shows the basic principle of operation of the hemming tool according to the invention.
  • the hemming operation is performed by controlling the robot 11 in order to move the hemming tool 10 along the structure to be processed.
  • this structure comprises two sheet metal panels juxtaposed with each other.
  • a lower panel 40 is arranged with an edge portion 41 initially bent at 90° relative to the general plane of the panel, whereas a second panel 42 is placed above the lower panel 40 with its edge 43 configured flat and adjacent to the bent edge 41 of the lower panel 40.
  • robot 11 causes a movement of rollers 13, 17 along the bent edge 41
  • the hemming operation is carried out.
  • the first roller 13 which encounters the 90° bent edge 41 causes, due to the engagement of its conical portion 13a against the edge 41, a first 45° bending of edge 41.
  • edge portion 41 has been bent by 45°, it is further bent flat against edge 43 of the upper panel 42 by the cylindrical portion 17a of the second hemming roller 17.
  • the whole clamp-like unit 20 is able to freely oscillate around axis 14, this unit is able to float freely around this axis while the rollers 13, 17 follow any changes in height of the profile of the panels while the tool proceeds along the portion to be processed.
  • the intrinsic elasticity of the pneumatic cylinder 32 allows limited changes in the relative position of the two arms 19, 24 around axis 25, whereas springs 26 always tend to bring the whole clamp-like unit 20 towards its neutral position.
  • the hemming tool is provided with a group of three rollers on both sides, so that it can be used relying on the rollers provided on one side or the other, thus obtaining a high flexibility in the application of the device.
  • the advantage of discharging the loads on the clamp unit 20 itself enables the use of a simplified structure also for the supporting die 5.
  • the rollers of the hemming tool of the invention are preferably provided at their free ends with the noses N of cylindrical shape and reduced diameter, for performing specific special tasks as shown herein under.
  • rollers provided on both sides of the hemming tool may have dimensions adapted to different tasks.
  • the double side design of the hemming tool according to the preferred embodiment of the invention renders this tool multi-functional.
  • Figures 8, 9 and 10 show auxiliary tasks which can be performed by the above described hemming tool.
  • Figure 8 shows a hemming operation performed along the edge of the window of a car door, wherein the nose N of a roller 37 is exploited, while the other side of tool (figure 9) can be used for flat hemming of the outer edge of the door.
  • rollers on the hemming tool can be interchanged with rollers of different size and shape, such as rollers 37', 38' 39' of figure 10, where roller 37' has a circumferential groove 44 in order to define a rope-like edge 45 on a hemmed portion of sheet metal.
  • the hemming tool according to the invention has a structure of low cost, is highly flexible in use and allows the combination of the extreme capabilities of robots with hemming requirements without any compromise to quality.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Processing And Handling Of Plastics And Other Materials For Molding In General (AREA)
  • Tyre Moulding (AREA)
EP03001105A 2003-01-20 2003-01-20 Outil de sertissage à rouleau et méthode de sertissage Expired - Lifetime EP1447155B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AT03001105T ATE294651T1 (de) 2003-01-20 2003-01-20 Rollbördelwerkzeug und bördelverfahren
ES03001105T ES2238640T3 (es) 2003-01-20 2003-01-20 Herramienta ribeteadora del tipo de rodillos y procedimiento para realizar una operacion de ribeteado.
EP03001105A EP1447155B1 (fr) 2003-01-20 2003-01-20 Outil de sertissage à rouleau et méthode de sertissage
DE60300614T DE60300614T2 (de) 2003-01-20 2003-01-20 Rollbördelwerkzeug und Bördelverfahren

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP03001105A EP1447155B1 (fr) 2003-01-20 2003-01-20 Outil de sertissage à rouleau et méthode de sertissage

Publications (2)

Publication Number Publication Date
EP1447155A1 true EP1447155A1 (fr) 2004-08-18
EP1447155B1 EP1447155B1 (fr) 2005-05-04

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Application Number Title Priority Date Filing Date
EP03001105A Expired - Lifetime EP1447155B1 (fr) 2003-01-20 2003-01-20 Outil de sertissage à rouleau et méthode de sertissage

Country Status (4)

Country Link
EP (1) EP1447155B1 (fr)
AT (1) ATE294651T1 (fr)
DE (1) DE60300614T2 (fr)
ES (1) ES2238640T3 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1640080A2 (fr) * 2004-09-24 2006-03-29 EDAG Engineering + Design Aktiengesellschaft Dispositif et méthode de sertissage avec protection de la pièce
EP1685915A1 (fr) * 2005-01-31 2006-08-02 EDAG Engineering + Design Aktiengesellschaft Procédé de sertissage avec outil de présertissage et de sertissage
JP2007000889A (ja) * 2005-06-22 2007-01-11 Honda Motor Co Ltd ローラヘミング装置及びローラヘミング方法
EP1807228A2 (fr) * 2004-10-08 2007-07-18 Valiant Corporation Machine d'ourlage a rouleaux
FR2906738A1 (fr) * 2006-10-10 2008-04-11 Renault Sas Dispositif pour sertir ensemble deux pieces en tole,et procede correspondant.
DE202008003687U1 (de) 2008-03-17 2009-07-16 Kuka Systems Gmbh Falzeinrichtung
CN101811162B (zh) * 2005-12-05 2012-05-30 本田技研工业株式会社 折边加工设备
JP2016117095A (ja) * 2014-11-14 2016-06-30 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハーＦｅｒｒｏｂｏｔｉｃｓ Ｃｏｍｐｌｉａｎｔ Ｒｏｂｏｔ Ｔｅｃｈｎｏｌｏｇｙ ＧｍｂＨ ロボットローラヘミングの装置と方法
US11097328B2 (en) * 2018-12-05 2021-08-24 Hyundai Motor Company Panel hemming device and a method of hemming using the same

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4870479B2 (ja) * 2005-06-21 2012-02-08 本田技研工業株式会社 ヘミング加工方法及びヘミング加工装置
ES2278538B1 (es) * 2006-01-25 2008-05-01 Mb Sistemas, S.Coop. Sistema de engatillado por rodillo.
DE102012004054A1 (de) * 2012-03-02 2013-09-05 Volkswagen Ag Rollfalzkopf, Anlage und Verfahren zum Rollfalzen mit einem Tandemrollensatz

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Publication number Priority date Publication date Assignee Title
JPH0760370A (ja) * 1993-08-04 1995-03-07 Taiho Seiki Co Ltd ヘミング加工装置
JP2000246351A (ja) * 1999-02-25 2000-09-12 Kyoei Kogyo Kk ヘミング加工方法及びそれに用いる装置
WO2000054902A1 (fr) * 1999-03-18 2000-09-21 Abb Ab Outil destine au pliage automatique au moyen de cylindres
JP2001062530A (ja) * 1999-08-31 2001-03-13 Sango Co Ltd ヘミング加工装置
DE10111374A1 (de) * 2001-03-09 2002-09-19 Audi Ag Bördelvorrichtung zum Umlegen einer Bördelkante eines Werkstücks durch Rollfalzen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0760370A (ja) * 1993-08-04 1995-03-07 Taiho Seiki Co Ltd ヘミング加工装置
JP2000246351A (ja) * 1999-02-25 2000-09-12 Kyoei Kogyo Kk ヘミング加工方法及びそれに用いる装置
WO2000054902A1 (fr) * 1999-03-18 2000-09-21 Abb Ab Outil destine au pliage automatique au moyen de cylindres
JP2001062530A (ja) * 1999-08-31 2001-03-13 Sango Co Ltd ヘミング加工装置
DE10111374A1 (de) * 2001-03-09 2002-09-19 Audi Ag Bördelvorrichtung zum Umlegen einer Bördelkante eines Werkstücks durch Rollfalzen

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1995, no. 06 31 July 1995 (1995-07-31) *
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 12 3 January 2001 (2001-01-03) *
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 20 10 July 2001 (2001-07-10) *

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7500373B2 (en) 2004-09-24 2009-03-10 Edag Gmbh & Co. Kgaa Flanging device and flanging method with component protection
EP1640080A3 (fr) * 2004-09-24 2006-05-24 EDAG Engineering + Design Aktiengesellschaft Dispositif et méthode de sertissage avec protection de la pièce
EP1640080A2 (fr) * 2004-09-24 2006-03-29 EDAG Engineering + Design Aktiengesellschaft Dispositif et méthode de sertissage avec protection de la pièce
EP1807228A4 (fr) * 2004-10-08 2011-04-13 Valiant Corp Machine d'ourlage a rouleaux
EP1807228A2 (fr) * 2004-10-08 2007-07-18 Valiant Corporation Machine d'ourlage a rouleaux
US7637134B2 (en) 2005-01-31 2009-12-29 Edag Gmbh & Co. Kgaa Flanging with a leading and following flanging die
EP1685915A1 (fr) * 2005-01-31 2006-08-02 EDAG Engineering + Design Aktiengesellschaft Procédé de sertissage avec outil de présertissage et de sertissage
JP2007000889A (ja) * 2005-06-22 2007-01-11 Honda Motor Co Ltd ローラヘミング装置及びローラヘミング方法
US7870774B2 (en) 2005-06-22 2011-01-18 Honda Motor Co., Ltd. Roller hemming apparatus and roller hemming method
CN101811162B (zh) * 2005-12-05 2012-05-30 本田技研工业株式会社 折边加工设备
US8272243B2 (en) 2005-12-05 2012-09-25 Honda Motor Co., Ltd. Hemming working method and working apparatus
US20120291508A1 (en) * 2005-12-05 2012-11-22 Honda Motor Co., Ltd. Hemming working method and working apparatus
US8914964B2 (en) 2005-12-05 2014-12-23 Honda Motor Co., Ltd. Hemming working method and working apparatus
FR2906738A1 (fr) * 2006-10-10 2008-04-11 Renault Sas Dispositif pour sertir ensemble deux pieces en tole,et procede correspondant.
DE202008003687U1 (de) 2008-03-17 2009-07-16 Kuka Systems Gmbh Falzeinrichtung
JP2016117095A (ja) * 2014-11-14 2016-06-30 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハーＦｅｒｒｏｂｏｔｉｃｓ Ｃｏｍｐｌｉａｎｔ Ｒｏｂｏｔ Ｔｅｃｈｎｏｌｏｇｙ ＧｍｂＨ ロボットローラヘミングの装置と方法
US10478883B2 (en) 2014-11-14 2019-11-19 Ferrobotics Complaint Robot Technology GmbH Apparatus and method for robotic roller hamming
US11097328B2 (en) * 2018-12-05 2021-08-24 Hyundai Motor Company Panel hemming device and a method of hemming using the same

Also Published As

Publication number Publication date
ES2238640T3 (es) 2005-09-01
EP1447155B1 (fr) 2005-05-04
ATE294651T1 (de) 2005-05-15
DE60300614D1 (de) 2005-06-09
DE60300614T2 (de) 2005-12-01

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