EP1968758B1 - Device and method for assembling parts by hemming - Google Patents

Device and method for assembling parts by hemming Download PDF

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Publication number
EP1968758B1
EP1968758B1 EP06847166A EP06847166A EP1968758B1 EP 1968758 B1 EP1968758 B1 EP 1968758B1 EP 06847166 A EP06847166 A EP 06847166A EP 06847166 A EP06847166 A EP 06847166A EP 1968758 B1 EP1968758 B1 EP 1968758B1
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EP
European Patent Office
Prior art keywords
arm
panel
edge
tool
flanges
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EP06847166A
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German (de)
French (fr)
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EP1968758A2 (en
Inventor
Pascal Denoual
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Process Conception Ingenierie SA
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Process Conception Ingenierie SA
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Publication of EP1968758A2 publication Critical patent/EP1968758A2/en
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    • 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
    • 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 device for assembling parts by folding according to the preamble of claim 1 and a method of crimping according to the preamble of claim 7. Such a device and such a method are described in document ES-A-2232271 .
  • the assembly device of the invention is shaped to work according to the principle of crimping and more particularly in a pre-crimping step followed by a crimping step.
  • Crimping is an assembly process involving subjecting the one or more elements with which to crimp an object, to an external force greater than the elastic limit of the material of the crimping element (s).
  • crimping is used, for example, for assembling two or more sheets with each other by folding the edge of a first panel on the edge or edges of the other panel or panels.
  • this work is usually done by manufacturing robots, while it is done by presses for large quantities of parts.
  • a manufacturing robot which is usually a multi-axis automaton
  • it is necessary to adjust the support power of the robot arm on the parts to be crimped so as to obtain a regular result of crimping and in particular so as to avoid that the sheet is crushed to the edges of crimped parts.
  • the ideal path of movement of the crimping tool is a spatial path, because maintained at a constant distance from the bearing surface of a matrix on which are placed the parts to be crimped, it is at least very difficult, if not almost impossible, to execute the ideal path to the robot arm.
  • robot arms have been equipped with spring mechanisms or mechanisms with force control.
  • the force has been provided for example by a hydraulic or pneumatic cylinder or by an electric motor and was controlled by a sensor.
  • Another solution, proposed in the document FR-A-2,843,549 is to use an electric motor and a rod and eccentric system.
  • the position of the roller at each moment - and therefore the path of the roller as a result of the positions of the roller at different times - may be distorted compared to path programmed by the own elasticity of the robot arm and also by an irregular behavior of the material of the parts to be crimped.
  • the document EP-A-0 577 876 discloses a roller type crimping apparatus in which the crimping roller is movably supported by means of an elastic member, preferably a compression coil spring.
  • This elastic means makes it possible to absorb any difference between the programmed theoretical path and the actual path made by the roller.
  • the document ES-A-2232271 further comprises means for adjusting the crimping force by compressing the spring more or less.
  • the object of the invention is to provide a robotic arm head arrangement that allows more actively to overcome the disadvantages mentioned above.
  • the proposal must relate to simple means, because the more active elements are added to compensate for variations in the position of the tool, even if these active means have a servo-controlling role, the greater the probability of a technical failure and, at the same time, more new variables are introduced rather than reduced.
  • the object of the invention is achieved with an assembly device of parts according to the features of claim 1, namely by folding an edge of a first panel on an edge of at least a second panel, the device comprising an arm carrying a tool for exerting a force on the edge of the first panel to be able to fold the edge of the first panel to the edge (s) of the other panel (s) and to then be able to apply the edge of the first panel to the edge (s) of the other panel (s), the arm being mounted axially movable by relative to a body of the device and under stress exerted by an elastic means.
  • the elastic means is mounted between two movable flanges each of which is arranged to be movable from a respective rest position, and the arm is shaped to move with it, in the direction of its axial displacement, one or the other of the two mobile flanges so as to bring the two flanges to one another.
  • the assembly device of the invention is preferably designed so as to allow a variation of Z position of the crimping head, including the tool for exerting a force on the folded edge A.
  • the variation of position in Z is of the order of +1 and -1 millimeter.
  • the force applied to the tool of the assembly device is obtained by the robot which varies the force by crushing or stretching more or less the assembly device.
  • the assembly device of the invention preferably allows a Z position variation of ⁇ 20 millimeters. of which ⁇ 1 millimeter for the trajectory deviation of the robot and therefore of the tool and ⁇ 19 millimeters for the compression force of the spring incorporated in the assembly device of the invention.
  • the device of the invention is also preferably designed so as to form a crimping head mounted on a free end of a robot arm.
  • the assembly device of the invention is therefore designed to adjust a folding force at the beginning of the application of the tool, for example a force between 20 and 300 daN, depending on the stroke of the head of the tool. 'assembly.
  • the force applied to the tool when it is pushed, is obtained by the movement of the arm carrying the tool, inwards and by the compression of the spring on a stop inside the assembly device.
  • the force when the tool is applied by pulling it, the force is obtained by the displacement of the arm supporting the tool, towards the outside of the device, which causes a compression of the spring towards the outer stop of the device.
  • the device of the invention it is first carried out a pre-crimping and then crimping.
  • the robot is approached a first time and positions the tool in contact with the bearing surface of the matrix on which the material to be crimped is placed.
  • the sheet of a first panel is pre-folded on the edge or edges of the other panel or crimp.
  • the pre-crimping force is provided by the robot which compresses the spring of the head, that is to say the assembly device, according to a programmed stroke.
  • the robot moves the tool around the workpiece along a programmed path. Over the entire trajectory, the pre-crimping force is maintained by the spring.
  • This effort is programmed and may vary depending on the pre-crimping conditions, for example depending on the height of the edge, the radius, the material of the sheet, the thickness of the sheet, etc.
  • the robot To perform the crimping, the robot is approached a second time and positions the arm of the robot and, thus, the tool on the sheet crimping. Then, the sheet is crimped by means of the tool following the same principle and with the same crimping force as for the pre-crimping.
  • the force may vary depending on crimping conditions.
  • Pre-crimping and crimping can be done by pushing or pulling.
  • a displacement sensor integrated in the head allows the robot to loop the trajectory to have a constant effort to the roller.
  • the configuration of the parts to be crimped (small radius, angles, etc.) and the nature of the crimping sheets can lead to the use of different tools, for example different knobs. They are stored in a storage warehouse where the robot is on a station to change the type of wheel.
  • the device of the invention has a number advantages, among which we can mention that the head, it works by pulling or pushing, compresses in both cases the same spring. Efforts go through the axis of the head, the guide is in the axis of the head, it is ensured by an axis that slides in two bronze rings, the whole is locked in rotation by a remote slide.
  • a particularly interesting application of the device of the invention is the crimping of parts of openings such as hoods, shutters, doors ..., where the cycle times are greater than 50 seconds.
  • the figure 1 shows a simplified perspective view of an assembly device of the invention.
  • This device is intended to assemble parts by folding, for example, as shown in the FIGS. 3A, 3B, 4A and 4B , from one edge B1 of a first panel P1 to a steel sheet, on one edge B2 of a second panel P2 into another sheet of steel, the folding being carried out with a knob 1.
  • the device comprises this effect means 1, 2 shaped to fold the edge B 1 of the first panel P1 to the edge B2 of the other panel P2 and to be able to then apply the edge B 1 to the edge B2.
  • the various elements of the internal mechanism of the assembly device are joined in an outer sleeve 4 having a flange 11 on which are stacked the edges of other elements necessary for mounting the device on the robot.
  • the assembly device more particularly comprises, besides the roller or the wheel 1, an arm 2 carrying the tool intended to exert a force on the edge B1 of the first panel P1 to fold it and then to apply it to the second P2 panel.
  • the device also comprises a compression spring 5 ensuring the support of the tool 1 on the edge B1 of the first panel P1, and this as well by pulling that pushing the tool 1.
  • the arm 2 is mounted axially movable inside an inner sleeve 3 and an outer sleeve 4 surrounding the inner sleeve 3.
  • the inner sleeve 3 and the outer sleeve 4 together form the body of the device and each have a stop annular 6, 7 on which the spring 5 bears respectively by one or the other of its two ends 5A, 5B when the arm 2 is in a position of rest or reference.
  • the spring 5 is disposed between two annular flanges 8, 9, a first flange 8 is shaped to bear on the stop 6 of the inner sleeve 3, when the arm 2 is moved towards the inside of the body of the device, and the second flange 9 is shaped to bear on the stop 7 of the outer sleeve 4, when the arm 2 is moved outwardly of the body of the device.
  • the arm 2 comprises a first annular shoulder 21 on which the second flange 9 of the spring 5 bears when the arm 2 is moved inwardly of the body of the device.
  • the arm 2 also comprises a second annular shoulder 22 on which the first flange 8 of the spring 5 bears when the arm 2 is moved outwardly of the body of the device.
  • the arm 2 is provided with shoulders 21, 22 and disposed inside the body of the device so as to be able to move with it, during an axial displacement, that of the two movable flanges 8, 9 which is in the rear position relative to the direction of movement of the arm 2.
  • that of the two movable flanges 8, 9 which is then in the forward position remains resting on that of the two annular abutments 6, 7 of the two inner sleeves 3 and outer 4 which is then in the forward position relative to the direction of movement of the arm 2. This results in a compression of the spring 5 regardless of the direction the movement of the arm.

Abstract

A device for assembling components by folding the edges of panels together, comprises an arm (2) carrying a tool (1) exerting an effort on the edge of a panel to be folded over another panel. The arm is mounted to move axially with respect to a body (3, 4) of the device and under a force exerted by an elastic element (5). The elastic element is mounted between two mobile flanges (8, 9), each arranged to be displaced from a rest position. The arm is configured to move with one or other of the flanges along an axial direction to bring the two flanges closer together. An independent claim is also included for a method of crimping using this device.

Description

La présente invention concerne un dispositif d'assemblage de pièces par pliage suivant le préambule de la revendication 1 et un procédé de sertissage suivant le préambule de la revendication 7. Un tel dispositif et un tel procédé sont décrits dans le document ES-A-2232271 .The present invention relates to a device for assembling parts by folding according to the preamble of claim 1 and a method of crimping according to the preamble of claim 7. Such a device and such a method are described in document ES-A-2232271 .

Le dispositif d'assemblage de l'invention est conformé pour travailler selon le principe du sertissage et plus particulièrement en une étape de pré-sertissage suivie d'une étape de sertissage.The assembly device of the invention is shaped to work according to the principle of crimping and more particularly in a pre-crimping step followed by a crimping step.

Le sertissage est un processus d'assemblage impliquant de soumettre le ou les éléments avec lequel ou lesquels on doit sertir un objet, à une force extérieure supérieure à la limite d'élasticité du matériau du ou des éléments sertissants.Crimping is an assembly process involving subjecting the one or more elements with which to crimp an object, to an external force greater than the elastic limit of the material of the crimping element (s).

Dans le domaine automobile, le sertissage est utilisé, par exemple, pour l'assemblage de deux ou plusieurs tôles les unes avec les autres en pliant le bord d'un premier panneau sur le ou les bords du ou des autres panneaux. Pour des petites quantités de pièces, ce travail est généralement fait par des robots de fabrication, alors qu'il est fait par des presses pour des grandes quantités de pièces. Lorsque l'on utilise un robot de fabrication, qui est généralement un automate à axes multiples, il faut programmer le déplacement du bras du robot, porteur de l'outil de sertissage, souvent un galet ou une molette, c'est-à-dire il faut enseigner un trajet de déplacement prédéterminé au bras du robot. De plus, il faut régler la puissance d'appui du bras du robot sur les pièces à sertir de manière à obtenir un résultat régulier de sertissage et notamment de manière à éviter que la tôle ne soit écrasée aux bords des pièces serties.In the automotive field, crimping is used, for example, for assembling two or more sheets with each other by folding the edge of a first panel on the edge or edges of the other panel or panels. For small quantities of parts, this work is usually done by manufacturing robots, while it is done by presses for large quantities of parts. When using a manufacturing robot, which is usually a multi-axis automaton, it is necessary to program the movement of the arm of the robot carrying the crimping tool, often a roller or a wheel, that is to say say you have to teach a predetermined travel path to the robot arm. In addition, it is necessary to adjust the support power of the robot arm on the parts to be crimped so as to obtain a regular result of crimping and in particular so as to avoid that the sheet is crushed to the edges of crimped parts.

Toutefois, puisque le trajet idéal de déplacement de l'outil de sertissage est un trajet spatial, car maintenue à une distance constante de la surface d'appui d'une matrice sur laquelle sont disposées les pièces à sertir, il est pour le moins très difficile, voire même presque impossible, de faire exécuter le trajet idéal au bras de robot.However, since the ideal path of movement of the crimping tool is a spatial path, because maintained at a constant distance from the bearing surface of a matrix on which are placed the parts to be crimped, it is at least very difficult, if not almost impossible, to execute the ideal path to the robot arm.

Pour apporter une solution à ce problème de précision du trajet, des bras de robots ont été équipés de mécanismes à ressort ou de mécanismes avec asservissement d'effort. Dans le dernier cas, l'effort a été fourni par exemple par un vérin hydraulique ou pneumatique ou par un moteur électrique et a été contrôlé par un capteur. Une autre solution, proposée dans le document FR-A-2 843 549 , consiste à utiliser un moteur électrique et un système à bielle et excentrique.To provide a solution to this problem of path accuracy, robot arms have been equipped with spring mechanisms or mechanisms with force control. In the latter case, the force has been provided for example by a hydraulic or pneumatic cylinder or by an electric motor and was controlled by a sensor. Another solution, proposed in the document FR-A-2,843,549 is to use an electric motor and a rod and eccentric system.

Toutefois, ces propositions ne résolvent pas de manière satisfaisante le problème d'un trajet précis de l'outil de sertissage déplacé le long du bord périphérique des pièces à sertir.However, these proposals do not satisfactorily solve the problem of a precise path of the crimping tool moved along the peripheral edge of the parts to be crimped.

En effet, lorsque l'on effectue un sertissage moyennant un galet, la position du galet à chaque instant - et donc le trajet du galet en tant que suite des positions du galet au fil des différents instants - risque d'être faussée par rapport au trajet programmé par la propre élasticité du bras de robot et aussi par un comportement irrégulier du matériau des pièces à sertir.Indeed, when crimping by means of a roller, the position of the roller at each moment - and therefore the path of the roller as a result of the positions of the roller at different times - may be distorted compared to path programmed by the own elasticity of the robot arm and also by an irregular behavior of the material of the parts to be crimped.

Pour remédier à ces influences, le document EP-A-0 577 876 décrit un appareil de sertissage du type à galet dans lequel le galet de sertissage est supporté de manière mobile moyennant un élément élastique, de préférence un ressort hélicoïdal de compression. Ce moyen élastique permet d'absorber toute différence entre le trajet théorique programmé et le trajet réel effectué par le galet. Suivant le même principe, le document ES-A-2232271 comporte de plus des moyens permettant de régler l'effort de sertissage en comprimant plus ou moins le ressort.To remedy these influences, the document EP-A-0 577 876 discloses a roller type crimping apparatus in which the crimping roller is movably supported by means of an elastic member, preferably a compression coil spring. This elastic means makes it possible to absorb any difference between the programmed theoretical path and the actual path made by the roller. Following the same principle, the document ES-A-2232271 further comprises means for adjusting the crimping force by compressing the spring more or less.

Cependant, même ces dispositions ne palient pas entièrement les problèmes d'imprécision du sertissage, car elles ne sont que réactives. En effet, la qualité de compensation des différences de trajet dépend du choix des caractéristiques du moyen élastique, notamment du module d'élasticité du ressort.However, even these provisions do not fully address the problems of imprecision crimping, because they are only reactive. Indeed, the compensation quality of the path differences depends on the choice of the characteristics of the elastic means, in particular the modulus of elasticity of the spring.

Le but de l'invention est de proposer une disposition de tête de bras de robot qui permette plus activement de remédier aux inconvénients énoncés plus haut.The object of the invention is to provide a robotic arm head arrangement that allows more actively to overcome the disadvantages mentioned above.

Toutefois, la proposition doit porter sur des moyens simples, car plus on ajoute d'éléments actifs pour compenser les variations de position de l'outil, même si ces moyens actifs on un rôle d'asservissement, plus on augmente la probabilité d'une défaillance technique et, en même temps, plus on introduit de nouvelles variables au lieu de les réduire.However, the proposal must relate to simple means, because the more active elements are added to compensate for variations in the position of the tool, even if these active means have a servo-controlling role, the greater the probability of a technical failure and, at the same time, more new variables are introduced rather than reduced.

Le but de l'invention est atteint avec un dispositif d'assemblage de pièces suivant les caractéristiques de la revendication 1, à savoir par pliage d'un bord d'un premier panneau sur un bord d'au moins un deuxième panneau, le dispositif comprenant un bras porteur d'un outil destiné à exercer un effort sur le bord du premier panneau pour pouvoir plier le bord du premier panneau vers le ou les bords du ou des autres panneaux et pour pouvoir ensuite appliquer le bord du premier panneau sur le ou les bords du ou des autres panneaux, le bras étant monté axialement mobile par rapport à un corps du dispositif et sous contrainte exercée par un moyen élastique.The object of the invention is achieved with an assembly device of parts according to the features of claim 1, namely by folding an edge of a first panel on an edge of at least a second panel, the device comprising an arm carrying a tool for exerting a force on the edge of the first panel to be able to fold the edge of the first panel to the edge (s) of the other panel (s) and to then be able to apply the edge of the first panel to the edge (s) of the other panel (s), the arm being mounted axially movable by relative to a body of the device and under stress exerted by an elastic means.

Conformément à l'invention, le moyen élastique est monté entre deux brides mobiles dont chacune est disposée de manière à pouvoir être déplacée à partir d'une position de repos respective, et le bras est conformé pour déplacer avec lui, suivant le sens de son déplacement axial, l'une ou l'autre des deux brides mobiles de manière à rapprocher les deux brides l'une à l'autre.According to the invention, the elastic means is mounted between two movable flanges each of which is arranged to be movable from a respective rest position, and the arm is shaped to move with it, in the direction of its axial displacement, one or the other of the two mobile flanges so as to bring the two flanges to one another.

Le dispositif d'assemblage de l'invention est de préférence conçu de manière à pouvoir permettre une variation de position en Z de la tête de sertissage, notamment de l'outil destiné à exercer un effort sur le bord A plié. La variation de position en Z est de l'ordre de +1 et -1 millimètre. L'effort appliqué à l'outil du dispositif d'assemblage est obtenu par le robot qui fait varier la force en écrasant ou en étirant plus ou moins le dispositif d'assemblage.The assembly device of the invention is preferably designed so as to allow a variation of Z position of the crimping head, including the tool for exerting a force on the folded edge A. The variation of position in Z is of the order of +1 and -1 millimeter. The force applied to the tool of the assembly device is obtained by the robot which varies the force by crushing or stretching more or less the assembly device.

Afin de pallier les écarts de trajectoire de l'outil, et pour augmenter ou diminuer l'effort de pré-sertissage ou de sertissage, le dispositif d'assemblage de l'invention permet de préférence une variation de position en Z de ± 20 millimètres dont ± 1 millimètre pour l'écart de trajectoire du robot et donc de l'outil et de ± 19 millimètres pour l'effort de compression du ressort incorporé dans le dispositif d'assemblage de l'invention. Le dispositif de l'invention est par ailleurs conçu de préférence de manière à pouvoir former une tête de sertissage montée sur une extrémité libre d'un bras de robot.In order to overcome the differences in the trajectory of the tool, and to increase or decrease the pre-crimping or crimping force, the assembly device of the invention preferably allows a Z position variation of ± 20 millimeters. of which ± 1 millimeter for the trajectory deviation of the robot and therefore of the tool and ± 19 millimeters for the compression force of the spring incorporated in the assembly device of the invention. The device of the invention is also preferably designed so as to form a crimping head mounted on a free end of a robot arm.

La présente invention est expliquée ci-après à l'aide de l'exemple d'un sertissage par roulage. Il va sans dire que des sertissages par des outils produisant un effet comparable sont également compris dans le principe de la présente invention. Un tel autre outil est, par exemple, un couteau déflecteur agissant dans des applications où la friction entre l'outil et le matériau à plier le permet, le cas échéant associé à un refroidissement et/ou graissage.The present invention is explained hereinafter with the aid of the example of rolling crimping. It goes without saying that crimps by tools producing a comparable effect are also included in the principle of the present invention. Such another tool is, for example, a baffle knife acting in applications where the friction between the tool and the material to be bent allows it, if appropriate associated with cooling and / or lubrication.

Des modes de réalisation préférés du dispositif comportent les caractéristiques ci-après, considérées isolément ou sous toutes combinaisons techniquement possibles décrites dans les revendications dépendantes :

  • le bras est monté axialement mobile à l'intérieur d'un fourreau intérieur et d'un fourreau extérieur entourant le fourreau intérieur et formant avec lui le corps du dispositif, le fourreau intérieur et le fourreau extérieur présentant chacun une butée annulaire sur laquelle prend appui respectivement l'une ou l'autre des deux brides mobiles lorsque le bras est en une position de repos ;
  • le moyen élastique est un ressort hélicoïdal et les deux brides mobiles sont des brides annulaires, le ressort et les brides étant disposés coaxialement autour du bras ;
  • le bras comporte deux épaulements annulaires destinés à recevoir en appui respectivement l'une ou l'autre des deux brides mobiles lorsque le bras est en position de repos ;
  • le bras est disposé à l'intérieur du corps du dispositif et conformé, quant aux épaulements, pour déplacer avec lui lors d'un déplacement axial celle des deux brides mobiles qui se trouve en position arrière par rapport au sens du déplacement du bras alors que simultanément celle des deux brides mobiles qui se trouve alors en position avant reste en appui sur celle des deux butées annulaires des deux fourreaux intérieur et extérieur qui se trouve alors en position avant par rapport au sens de déplacement du bras ;
  • l'outil est une molette.
Preferred embodiments of the device include the following features, considered alone or in any technically possible combinations described in the dependent claims:
  • the arm is mounted axially movable inside an inner sleeve and an outer sleeve surrounding the inner sleeve and forming with it the body of the device, the inner sleeve and the outer sleeve each having an annular abutment on which bears respectively one or the other of the two mobile flanges when the arm is in a rest position;
  • the elastic means is a helical spring and the two movable flanges are annular flanges, the spring and the flanges being arranged coaxially around the arm;
  • the arm comprises two annular shoulders intended to receive respectively supporting one or the other of the two movable flanges when the arm is in the rest position;
  • the arm is disposed inside the body of the device and shaped, with respect to the shoulders, to move with it during an axial displacement that of the two movable flanges which is in the rear position with respect to the direction of movement of the arm whereas simultaneously that of the two movable flanges which is then in the forward position remains in abutment with that of the two annular stops of the two inner and outer sleeves which is then in the forward position relative to the direction of movement of the arm;
  • the tool is a wheel.

Le dispositif d'assemblage de l'invention est donc conçu de manière à régler un effort de pliage en début de l'application de l'outil, par exemple un effort entre 20 et 300 daN, en fonction de la course de la tête d'assemblage.The assembly device of the invention is therefore designed to adjust a folding force at the beginning of the application of the tool, for example a force between 20 and 300 daN, depending on the stroke of the head of the tool. 'assembly.

Grâce à cette disposition de l'invention, l'effort appliqué à l'outil, lorsque celui-ci est poussé, est obtenu par le déplacement du bras portant l'outil, vers l'intérieur et par la compression du ressort sur une butée intérieure du dispositif d'assemblage. Contrairement à cela, lorsque l'outil est appliqué en le tirant, l'effort est obtenu par le déplacement du bras supportant l'outil, vers l'extérieur du dispositif, ce qui entraîne une compression du ressort vers la butée extérieure du dispositif. La description de l'invention en référence aux figures précisera la position relative intérieure et relative extérieure des butées en question.With this arrangement of the invention, the force applied to the tool, when it is pushed, is obtained by the movement of the arm carrying the tool, inwards and by the compression of the spring on a stop inside the assembly device. Contrary to this, when the tool is applied by pulling it, the force is obtained by the displacement of the arm supporting the tool, towards the outside of the device, which causes a compression of the spring towards the outer stop of the device. The description of the invention with reference to the figures will specify the relative internal and external relative position of the abutments in question.

Le but de l'invention est également atteint avec un procédé de sertissage suivant les caractéristiques de la revendication 7 permettant d'assembler des pièces par pliage d'un bord d'un premier panneau sur un bord d'au moins un deuxième panneau, moyennant un dispositif comprenant un bras porteur d'un outil destiné à exercer un effort sur le bord du premier panneau pour pouvoir plier le bord du premier panneau vers le ou les bords du ou des autres panneaux et pour pouvoir ensuite appliquer le bord du premier panneau sur le ou les bords du ou des autres panneaux, le bras étant monté axialement mobile par rapport à un corps du dispositif et sous contrainte exercée par un moyen élastique.
Le procédé comprend au moins les étapes suivantes :

  • première approche du bras et premier positionnement de l'outil en contact avec une surface d'appui d'une matrice portant les panneaux à assembler,
  • application d'un effort de pré-sertissage sur le bras porteur d'un outil, accompagnée d'une compression du moyen élastique suivant une course programmée,
  • premier déplacement de l'outil suivant une trajectoire programmée, accompagné d'un maintient de l'effort par le moyen élastique,
  • seconde approche du bras et second positionnement de l'outil en contact avec du bord du premier panneau,
  • application d'un effort de sertissage sur le bras porteur d'un outil, accompagnée d'une compression du moyen élastique suivant une course programmée,
  • second déplacement de l'outil suivant une trajectoire programmée, accompagné d'un maintient de l'effort par le moyen élastique.
The object of the invention is also achieved with a crimping method according to the features of claim 7 for assembling parts by folding an edge of a first panel on an edge of at least a second panel, by means of a device comprising an arm carrying a tool intended to exert a force on the edge of the first panel so as to be able to fold the edge of the first panel towards the edge or edges of the other panel (s) and to then be able to apply the edge of the first panel to the edge or the other panel or panels, the arm being mounted axially movable relative to a body of the device and under stress exerted by an elastic means.
The method comprises at least the following steps:
  • first approach of the arm and first positioning of the tool in contact with a bearing surface of a matrix carrying the panels to be assembled,
  • applying a pre-crimping force on the carrying arm of a tool, accompanied by a compression of the elastic means according to a programmed stroke,
  • first movement of the tool along a programmed path, accompanied by maintaining the force by the elastic means,
  • second approach of the arm and second positioning of the tool in contact with the edge of the first panel,
  • application of a crimping force on the carrying arm of a tool, accompanied by a compression of the elastic means according to a programmed stroke,
  • second movement of the tool along a programmed path, accompanied by a maintenance of the force by the elastic means.

Dans un mode préféré d'utilisation du dispositif de l'invention, on effectue d'abord un pré-sertissage et ensuite le sertissage. A cet effet, on approche le robot une première fois et positionne l'outil en contact de la surface d'appui de la matrice sur laquelle est posé le matériau à sertir. Lorsque l'outil est en contact avec le chanfrein de la matrice, la tôle d'un premier panneau est pré-pliée sur le ou les bords du ou des autres panneaux à sertir. L'effort de pré-sertissage est fourni par le robot qui comprime le ressort de la tête, c'est-à-dire du dispositif d'assemblage, suivant une course programmée. Ensuite, le robot déplace l'outil autour de la pièce suivant une trajectoire programmée. Sur toute la trajectoire, l'effort de pré-sertissage est maintenu par le ressort. Cet effort est programmé et peut varier en fonction des conditions de pré-sertissage, par exemple en fonction de la hauteur du bord, du rayon, du matériau de la tôle, de l'épaisseur de la tôle, etc.In a preferred mode of use of the device of the invention, it is first carried out a pre-crimping and then crimping. For this purpose, the robot is approached a first time and positions the tool in contact with the bearing surface of the matrix on which the material to be crimped is placed. When the tool is in contact with the chamfer of the matrix, the sheet of a first panel is pre-folded on the edge or edges of the other panel or crimp. The pre-crimping force is provided by the robot which compresses the spring of the head, that is to say the assembly device, according to a programmed stroke. Then, the robot moves the tool around the workpiece along a programmed path. Over the entire trajectory, the pre-crimping force is maintained by the spring. This effort is programmed and may vary depending on the pre-crimping conditions, for example depending on the height of the edge, the radius, the material of the sheet, the thickness of the sheet, etc.

Pour effectuer le sertissage, on approche le robot une seconde fois et positionne le bras du robot et, ainsi, l'outil sur la tôle à sertir. Ensuite, la tôle est sertie moyennant l'outil suivant le même principe et avec le même effort de sertissage que pour le pré-sertissage. L'effort peut varier en fonction des conditions de sertissage.To perform the crimping, the robot is approached a second time and positions the arm of the robot and, thus, the tool on the sheet crimping. Then, the sheet is crimped by means of the tool following the same principle and with the same crimping force as for the pre-crimping. The force may vary depending on crimping conditions.

Le pré-sertissage et le sertissage peuvent être réalisés en poussant ou en tirant. Un capteur de déplacement intégré à la tête permet au robot de corriger en boucle la trajectoire pour avoir un effort constant au galet.Pre-crimping and crimping can be done by pushing or pulling. A displacement sensor integrated in the head allows the robot to loop the trajectory to have a constant effort to the roller.

La configuration des pièces à sertir (petit rayon, angles ...) et la nature des tôles à sertir peuvent amener à utiliser différents outils, par exemple différentes molettes. Elles sont rangées dans un magasin de stockage où le robot se présente sur un poste pour changer le type de molette.The configuration of the parts to be crimped (small radius, angles, etc.) and the nature of the crimping sheets can lead to the use of different tools, for example different knobs. They are stored in a storage warehouse where the robot is on a station to change the type of wheel.

Le dispositif de l'invention présente un certain nombre d'avantages, parmi lesquelles on peut citer que la tête, qu'elle travaille en tirant ou en poussant, comprime dans les deux cas le même ressort. Les efforts passent par l'axe de la tête, le guidage est dans l'axe de la tête, il est assuré par un axe qui coulisse dans deux bagues bronze, le tout est bloqué en rotation par un coulisseau déporté.The device of the invention has a number advantages, among which we can mention that the head, it works by pulling or pushing, compresses in both cases the same spring. Efforts go through the axis of the head, the guide is in the axis of the head, it is ensured by an axis that slides in two bronze rings, the whole is locked in rotation by a remote slide.

Par rapport aux solutions antérieures, le coût de la tête est divisé par trois. Ceci rend le dispositif particulièrement intéressant aux petites séries ; elles sont aujourd'hui traitées comme les grandes par rapport à la solution d'origine.Compared to previous solutions, the cost of the head is divided by three. This makes the device particularly interesting for small series; they are today treated as big compared to the original solution.

Une application particulièrement intéressante du dispositif de l'invention est le sertissage de parties d'ouvrants telles des capots, volets, portes ..., où les temps de cycles sont supérieurs à 50 secondes.A particularly interesting application of the device of the invention is the crimping of parts of openings such as hoods, shutters, doors ..., where the cycle times are greater than 50 seconds.

D'autres caractéristiques et avantages de la présente invention ressortiront de la description ci-après d'un mode de réalisation de l'invention, la description étant faite en référence aux dessins, dans lesquels :

  • la figure 1 représente un dispositif d'assemblage selon un mode de réalisation préféré de l'invention, en une vue en perspective ;
  • la figure 2 montre le dispositif de la figure 1 en une coupe axiale ;
  • les figures 3A et 3B représentent schématiquement les étapes de pré-sertissage et de sertissage de tôle en tirant une molette ; et
  • les figures 4A et 4B représentent schématiquement un sertissage de tôle à l'aide d'une molette appliquée par poussage.
Other features and advantages of the present invention will emerge from the following description of an embodiment of the invention, the description being made with reference to the drawings, in which:
  • the figure 1 represents an assembly device according to a preferred embodiment of the invention, in a perspective view;
  • the figure 2 shows the device of the figure 1 in an axial section;
  • the Figures 3A and 3B schematically represent the steps of pre-crimping and crimping sheet by pulling a wheel; and
  • the Figures 4A and 4B schematically represent a crimping of sheet metal with a thrust applied wheel.

La figure 1 montre une vue en perspective simplifiée d'un dispositif d'assemblage de l'invention. Ce dispositif est destiné à assembler des pièces par pliage, par exemple, comme représenté sur les figures 3A, 3B, 4A et 4B, d'un bord B1 d'un premier panneau P1 en une tôle d'acier, sur un bord B2 d'un deuxième panneau P2 en une autre tôle d'acier, le pliage étant effectué avec une molette 1. Le dispositif comprend à cet effet des moyens 1, 2 conformés pour plier le bord B 1 du premier panneau P1 vers le bord B2 de l'autre panneau P2 et pour pouvoir ensuite appliquer le bord B 1 sur le bord B2.The figure 1 shows a simplified perspective view of an assembly device of the invention. This device is intended to assemble parts by folding, for example, as shown in the FIGS. 3A, 3B, 4A and 4B , from one edge B1 of a first panel P1 to a steel sheet, on one edge B2 of a second panel P2 into another sheet of steel, the folding being carried out with a knob 1. The device comprises this effect means 1, 2 shaped to fold the edge B 1 of the first panel P1 to the edge B2 of the other panel P2 and to be able to then apply the edge B 1 to the edge B2.

Les différents éléments de la mécanique interne du dispositif d'assemblage sont réunis dans un fourreau extérieur 4 ayant un rebord 11 sur lequel sont empilés les rebords d'autres éléments nécessaires au montage du dispositif sur le robot.The various elements of the internal mechanism of the assembly device are joined in an outer sleeve 4 having a flange 11 on which are stacked the edges of other elements necessary for mounting the device on the robot.

Le dispositif d'assemblage comprend plus particulièrement, outre le galet ou la molette 1, un bras 2 porteur de l'outil destiné à exercer un effort sur le bord B1 du premier panneau P1 pour le plier et pour l'appliquer ensuite sur le second panneau P2. Le dispositif comprend également un ressort de compression 5 assurant l'appui de l'outil 1 sur le bord B1 du premier panneau P1, et cela aussi bien en tirant qu'en poussant l'outil 1.The assembly device more particularly comprises, besides the roller or the wheel 1, an arm 2 carrying the tool intended to exert a force on the edge B1 of the first panel P1 to fold it and then to apply it to the second P2 panel. The device also comprises a compression spring 5 ensuring the support of the tool 1 on the edge B1 of the first panel P1, and this as well by pulling that pushing the tool 1.

Le bras 2 est monté axialement mobile à l'intérieur d'un fourreau intérieur 3 et d'un fourreau extérieur 4 entourant le fourreau intérieur 3. Le fourreau intérieur 3 et le fourreau extérieur 4 forment ensemble le corps du dispositif et présentent chacun une butée annulaire 6, 7 sur laquelle le ressort 5 prend appui respectivement par l'une ou par l'autre de ses deux extrémités 5A, 5B lorsque le bras 2 est en une position de repos ou de référence.The arm 2 is mounted axially movable inside an inner sleeve 3 and an outer sleeve 4 surrounding the inner sleeve 3. The inner sleeve 3 and the outer sleeve 4 together form the body of the device and each have a stop annular 6, 7 on which the spring 5 bears respectively by one or the other of its two ends 5A, 5B when the arm 2 is in a position of rest or reference.

Le ressort 5 est disposé entre deux brides 8, 9 annulaires dont une première bride 8 est conformée pour prendre appui sur la butée 6 du fourreau intérieur 3, lorsque le bras 2 est déplacé vers l'intérieur du corps du dispositif, et dont la seconde bride 9 est conformée pour prendre appui sur la butée 7 du fourreau extérieur 4, lorsque le bras 2 est déplacé vers l'extérieur du corps du dispositif.The spring 5 is disposed between two annular flanges 8, 9, a first flange 8 is shaped to bear on the stop 6 of the inner sleeve 3, when the arm 2 is moved towards the inside of the body of the device, and the second flange 9 is shaped to bear on the stop 7 of the outer sleeve 4, when the arm 2 is moved outwardly of the body of the device.

Par ailleurs, le bras 2 comporte un premier épaulement annulaire 21 sur lequel la seconde bride 9 du ressort 5 prend appui lorsque le bras 2 est déplacé vers l'intérieur du corps du dispositif.Furthermore, the arm 2 comprises a first annular shoulder 21 on which the second flange 9 of the spring 5 bears when the arm 2 is moved inwardly of the body of the device.

Le bras 2 comporte également un second épaulement annulaire 22 sur lequel la première bride 8 du ressort 5 prend appui lorsque le bras 2 est déplacé vers l'extérieur du corps du dispositif.The arm 2 also comprises a second annular shoulder 22 on which the first flange 8 of the spring 5 bears when the arm 2 is moved outwardly of the body of the device.

Ainsi, le bras 2 est pourvu d'épaulements 21, 22 et disposé à l'intérieur du corps du dispositif de manière à pouvoir déplacer avec lui, lors d'un déplacement axial, celle des deux brides mobiles 8, 9 qui se trouve en position arrière par rapport au sens du déplacement du bras 2. En même temps, celle des deux brides mobiles 8, 9 qui se trouve alors en position avant reste en appui sur celle des deux butées annulaires 6, 7 des deux fourreaux intérieur 3 et extérieur 4 qui se trouve alors en position avant par rapport au sens de déplacement du bras 2. Il en résulte une compression du ressort 5 quel que soit le sens du déplacement du bras.Thus, the arm 2 is provided with shoulders 21, 22 and disposed inside the body of the device so as to be able to move with it, during an axial displacement, that of the two movable flanges 8, 9 which is in the rear position relative to the direction of movement of the arm 2. At the same time, that of the two movable flanges 8, 9 which is then in the forward position remains resting on that of the two annular abutments 6, 7 of the two inner sleeves 3 and outer 4 which is then in the forward position relative to the direction of movement of the arm 2. This results in a compression of the spring 5 regardless of the direction the movement of the arm.

Autrement dit, que le dispositif de sertissage soit utilisé en tirant l'outil ou qu'il soit utilisé en poussant l'outil, dans les deux cas le ressort est comprimé et présente ainsi le même comportement élastique.In other words, whether the crimping device is used by pulling the tool or that it is used while pushing the tool, in both cases the spring is compressed and thus has the same elastic behavior.

Claims (9)

  1. Device for assembling parts by bending an edge (B1) of a first panel (P1) over an edge (B2) of at least a second panel (P2), the device comprising an arm (2) carrying a tool (1) designed to apply a force to the edge (B1) of the first panel (P1) in order to be able to bend the edge (B1) of the first panel (P1) towards the edge or edges (B2) of the other panel(s) (P2) and in order to be able then to press the edge (B1) of the first panel (P1) over the edge(s) (B2) of the other panel(s) (P2), the arm (2) being mounted so as to be axially movable relative to a body (3, 4) of the device and under a stress exerted by an elastic means (5),
    characterized in that the elastic means (5) is mounted between two movable flanges (8, 9) each of which is placed so as to be able to be moved from a respective rest position and in that the arm (2) is made in order to move with it, following the direction of its axial movement, one (8) or the other (9) of the two movable flanges so as to bring the two flanges (8, 9) next to one another.
  2. Device according to Claim 1, characterized in that the arm (2) is mounted so as to be axially movable inside an internal sheath (3) and an external sheath (4) surrounding the internal sheath (3) and forming with it (3) the body (3, 4) of the device, the internal sheath (3) and the external sheath (4) each having an annular stop (6, 7) on which one (8) or the other (9) of the two movable flanges (8, 9) rest respectively when the arm (2) is in a rest position.
  3. Device according to Claim 1 or 2, characterized in that the elastic means (5) is a coil spring and in that the two movable flanges (8, 9) are annular flanges, the spring and the flanges being placed coaxially about the arm (2).
  4. Device according to any one of Claims 1 to 3,
    characterized in that the arm (2) comprises two annular shoulders (21, 22) designed to receive as a rest respectively one or the other of the two movable flanges (8, 9) when the arm (2) is in the rest position.
  5. Device according to any one of Claims 2 to 4,
    characterized in that the arm (2) is placed inside the body (3, 4) of the device and made, with respect to the shoulders (21, 22), in order to move, during an axial movement, that of the two movable flanges (8, 9) which is in a rear position relative to the direction of movement of the arm (2) while simultaneously that of the two movable flanges (8, 9) which is then in the front position remains resting on that of the two annular stops (6, 7) of the two sheaths, the internal sheath (3) and external sheath (4), which is then in the front position relative to the direction of movement of the arm (2).
  6. Device according to any one of Claims 1 to 5,
    characterized in that the tool (1) is a knurling wheel.
  7. Crimping method making it possible to assemble parts by folding an edge (B1) of a first panel (P1) over an edge (B2) of at least a second panel (P2), using a device comprising an arm (2) carrying a tool (1) designed to apply a force to the edge (B1) of the first panel (P1) in order to be able to bend the edge (B1) of the first panel (P1) towards the edge or edges (B2) of the other panel(s) (P2) and in order to be able then to press the edge (B1) of the first panel (P1) over the edge(s) (B2) of the other panel(s) (P2), the arm (2) being mounted so as to be axially movable relative to a body (3, 4) of the device and under stress exerted by an elastic means (5), the method comprising at least the following steps:
    - first approach of the arm (2) and first positioning of the tool (1) in contact with a bearing surface of a die supporting the panels (P1, P2) to be assembled,
    - application of a pre-crimping force on the arm (2) carrying a tool (1), accompanied by a compression of the elastic means (5) following a programmed travel,
    - first movement of the tool (1) following a programmed trajectory, accompanied by a maintenance of the force by the elastic means (5),
    - second approach of the arm (2) and second positioning of the tool (1) in contact with the edge (B1) of the first panel (P1),
    - application of a crimping force on the arm (2) carrying a tool (1), accompanied by a compression of the elastic means (5) following a programmed travel,
    - second movement of the tool (1) following a programmed trajectory, accompanied by a maintenance of the force by the elastic means (5),
    characterized in that it is applied by means of a device according to any one of Claims 1 to 6.
  8. Method according to Claim 7, characterized in that it is applied by pushing the tool (1).
  9. Method according to Claim 7, characterized in that it is applied by pulling the tool (1).
EP06847166A 2006-01-05 2006-12-18 Device and method for assembling parts by hemming Active EP1968758B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0650044A FR2895690B1 (en) 2006-01-05 2006-01-05 DEVICE FOR ASSEMBLING PARTS BY FOLDING
PCT/FR2006/051376 WO2007077377A2 (en) 2006-01-05 2006-12-18 Device for assembling parts by means of bending

Publications (2)

Publication Number Publication Date
EP1968758A2 EP1968758A2 (en) 2008-09-17
EP1968758B1 true EP1968758B1 (en) 2009-04-15

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AT (1) ATE428519T1 (en)
BR (1) BRPI0621099B1 (en)
DE (1) DE602006006349D1 (en)
ES (1) ES2324960T3 (en)
FR (1) FR2895690B1 (en)
PT (1) PT1968758E (en)
WO (1) WO2007077377A2 (en)

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JP4795462B2 (en) * 2009-11-12 2011-10-19 ファナック株式会社 Roll hem processing equipment using robot manipulator with force sensor
CN101823093A (en) * 2010-03-30 2010-09-08 宁波信泰机械有限公司 Rolling wheel mechanism
US9352376B2 (en) * 2011-05-24 2016-05-31 Comau S.P.A. Hemming head device and method
PL2821159T3 (en) 2013-07-01 2017-02-28 Comau S.P.A. Tool head for performing industrial operations having a wireless monitoring system
JP5971226B2 (en) 2013-11-01 2016-08-17 株式会社安川電機 Robot system and method of manufacturing workpiece
ES2553618B1 (en) * 2014-05-08 2016-09-21 Ingemat, S.L. TOOL FOR ENGRAPADO BY ROLDANA
EP3305431B1 (en) 2016-10-10 2023-09-27 Comau S.p.A. Hemming apparatus and hemming method
PL3366409T3 (en) 2017-02-23 2019-12-31 Comau S.P.A. Articulated robot carrying an electric resistance welding head with electrodes located on the same side ; corresponding method of resistance electric welding on a component to be welded
FR3078000B1 (en) * 2018-02-19 2020-03-13 Faurecia Systemes D'echappement ASSEMBLY FOR MANUFACTURING A METAL PART AND USE OF SUCH AN ASSEMBLY

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SE514087C2 (en) * 1999-04-19 2000-12-18 Abb Ab Process of joining
JP3619059B2 (en) * 1999-06-21 2005-02-09 ダイハツ工業株式会社 Hemming vibrator
DE10011854C5 (en) * 2000-03-10 2013-06-20 Fft Edag Produktionssysteme Gmbh & Co. Kg Rollfalzkopf and method for producing a Blechfalzverbindung
FR2843549B1 (en) * 2002-08-13 2005-05-27 Process Conception Ing Sa METHOD AND DEVICE FOR ASSEMBLING WORKPIECES BY CRIMPING A PERIPHERAL EDGE
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

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FR2895690B1 (en) 2009-07-03
BRPI0621099B1 (en) 2019-01-15
WO2007077377A2 (en) 2007-07-12
PT1968758E (en) 2009-05-22
WO2007077377A3 (en) 2007-08-23
FR2895690A1 (en) 2007-07-06
CN101356026B (en) 2010-09-08
ATE428519T1 (en) 2009-05-15
CN101356026A (en) 2009-01-28
BRPI0621099A2 (en) 2012-05-08
ES2324960T3 (en) 2009-08-20
EP1968758A2 (en) 2008-09-17
DE602006006349D1 (en) 2009-05-28

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