EP1968758B1 - Dispositif et procédé d'assemblage de pièces par pliage - Google Patents

Dispositif et procédé d'assemblage de pièces par pliage 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
Authority
EP
European Patent Office
Prior art keywords
arm
panel
edge
tool
flanges
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.)
Active
Application number
EP06847166A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1968758A2 (fr
Inventor
Pascal Denoual
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Process Conception Ingenierie SA
Original Assignee
Process Conception Ingenierie SA
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Publication date
Application filed by Process Conception Ingenierie SA filed Critical Process Conception Ingenierie SA
Publication of EP1968758A2 publication Critical patent/EP1968758A2/fr
Application granted granted Critical
Publication of EP1968758B1 publication Critical patent/EP1968758B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Piezo-Electric Or Mechanical Vibrators, Or Delay Or Filter Circuits (AREA)
  • Clamps And Clips (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Resistance Welding (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
EP06847166A 2006-01-05 2006-12-18 Dispositif et procédé d'assemblage de pièces par pliage Active EP1968758B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0650044A FR2895690B1 (fr) 2006-01-05 2006-01-05 Dispositif d'assemblage de pieces par pliage
PCT/FR2006/051376 WO2007077377A2 (fr) 2006-01-05 2006-12-18 Dispositif d'assemblage de pieces par pliage.

Publications (2)

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

Family

ID=37037083

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06847166A Active EP1968758B1 (fr) 2006-01-05 2006-12-18 Dispositif et procédé d'assemblage de pièces par pliage

Country Status (9)

Country Link
EP (1) EP1968758B1 (pt)
CN (1) CN101356026B (pt)
AT (1) ATE428519T1 (pt)
BR (1) BRPI0621099B1 (pt)
DE (1) DE602006006349D1 (pt)
ES (1) ES2324960T3 (pt)
FR (1) FR2895690B1 (pt)
PT (1) PT1968758E (pt)
WO (1) WO2007077377A2 (pt)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4795462B2 (ja) 2009-11-12 2011-10-19 ファナック株式会社 力センサを搭載したロボットマニピュレータを用いたロールヘム加工装置
CN101823093A (zh) * 2010-03-30 2010-09-08 宁波信泰机械有限公司 一种滚边轮机构
US9352376B2 (en) 2011-05-24 2016-05-31 Comau S.P.A. Hemming head device and method
PL2821159T3 (pl) 2013-07-01 2017-02-28 Comau S.P.A. Głowica narzędziowa do wykonywania operacji przemysłowych, mająca bezprzewodowy system monitorujący
JP5971226B2 (ja) * 2013-11-01 2016-08-17 株式会社安川電機 ロボットシステムおよび被加工物の製造方法
ES2553618B1 (es) * 2014-05-08 2016-09-21 Ingemat, S.L. Herramienta para engrapado por roldana
EP3305431B1 (en) 2016-10-10 2023-09-27 Comau S.p.A. Hemming apparatus and hemming method
RS59305B1 (sr) 2017-02-23 2019-10-31 Comau Spa Zglobni robot koji nosi glavu za elektrootporno zavarivanje sa elektrodama smeštenim na istoj strani; odgovarajući postupak elektrootpornog zavarivanja na komponenti koja se zavaruje
FR3078000B1 (fr) * 2018-02-19 2020-03-13 Faurecia Systemes D'echappement Ensemble de fabrication d'une piece metallique et utilisation d'un tel ensemble

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE514087C2 (sv) * 1999-04-19 2000-12-18 Abb Ab Förfarande vid sammanfogning
JP3619059B2 (ja) * 1999-06-21 2005-02-09 ダイハツ工業株式会社 ヘミング用起振装置
DE10011854C5 (de) * 2000-03-10 2013-06-20 Fft Edag Produktionssysteme Gmbh & Co. Kg Rollfalzkopf und Verfahren zum Erzeugen einer Blechfalzverbindung
FR2843549B1 (fr) * 2002-08-13 2005-05-27 Process Conception Ing Sa Procede et dispositif d'assemblage de pieces par sertissage d'un bord peripherique
ES2232271A1 (es) * 2003-03-07 2005-05-16 Ingemat Sa Herramienta de engatillado para montar en robot.

Also Published As

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

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