US20050262912A1 - Robotic roller hemming alignment apparatus and method - Google Patents

Robotic roller hemming alignment apparatus and method Download PDF

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Publication number
US20050262912A1
US20050262912A1 US10/853,343 US85334304A US2005262912A1 US 20050262912 A1 US20050262912 A1 US 20050262912A1 US 85334304 A US85334304 A US 85334304A US 2005262912 A1 US2005262912 A1 US 2005262912A1
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Prior art keywords
hemming
roller
edge
robotic
panel
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Abandoned
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US10/853,343
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James Toeniskoetter
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Hirotec America Inc
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Hirotec America Inc
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Priority to US10/853,343 priority Critical patent/US20050262912A1/en
Assigned to TESCO ENGINEERING, INC. reassignment TESCO ENGINEERING, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TOENISKOETTER, JAMES B.
Publication of US20050262912A1 publication Critical patent/US20050262912A1/en
Abandoned legal-status Critical Current

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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
    • 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 joining nested metal panels to form vehicle closure panels and more particularly to robotic roller hemming.
  • a conventional robotic roller hemming apparatus as shown in FIG. 1 , includes an angular guide surface 10 machined or ground on the side of an anvil 12 or lower die to locate a hem roller 14 , this guide surface controls the hemming roller in a single direction D 1 only during the prehem step. Control of the location of the hemming roller along other axes is provided by the robot positioning control. Conventionally, the guide surface 10 is cut roughly at a 45 degree angle relative to the hemming die in the local region. It is desirable to control the robotic hemming roller 14 in at least two directions independent of the robotic positioning control.
  • the present invention provides a robotic hemming roller that maintains positioning in at least two directions independent of the robotic positioning control.
  • the robotic hemming roller includes a follower for following a two dimensional guide on an edge of a hemming anvil or hemming die as the hemming roller prehems a standing flange on a panel of the assembly being hemmed.
  • the robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge includes a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed the hemming portion.
  • the roller hemming apparatus also includes a robot hand rotatably supporting the hemming roller and controlling the hemming roller in the direction of motion of the hemming.
  • a lower die having a hemming surface supports the outer metal panel thereon and includes a two dimensional guide for guiding the hemming roller along two axes relative to the hemming motion. The guide maintains axial positioning of the hemming roller independent of the robot hand.
  • the hemming roller follower portion may be a V-shaped groove and the two dimensional guide may be a complementary wedge shaped section around an edge of the lower die.
  • the hemming roller follower portion may be a groove having an arcuate cross section and the two dimensional guide may be a complementary radius around an edge of the lower die, whereby the hemming roller can be rotated while maintaining directional stability in two directions independent of robotic positioning control.
  • FIG. 1 is a side view of a prior art roller hemming apparatus performing a hemming operation
  • FIG. 2 is a side view of a robotic roller hemming apparatus in accordance with the present invention performing a hemming operation
  • FIG. 3 is a side view of a hemming roller of the robotic roller hemming apparatus of FIG. 2 ;
  • FIG. 4 is a side view of an alternative embodiment of a robotic roller hemming apparatus in accordance with the present invention.
  • FIG. 5 is an enlarged side view of the robotic roller hemming apparatus of FIG. 4 illustrating an arcuate follower and complementary guide.
  • numeral 20 generally indicates a robotic roller hemming apparatus in accordance with the present invention.
  • the robotic roller hemming apparatus 20 maintains positioning of a hemming roller in at least two directions independent of the robotic positioning control.
  • the robotic hemming roller apparatus 20 for hemming an upturned edge 22 of an outer metal panel 24 over a peripheral edge 26 of an inner panel 28 superimposed on the outer panel 24 adjacent the upturned edge 22 includes a hemming roller 30 having a peripheral surface 32 including a hemming portion 34 for pressing the upturned edge 22 of the outer panel 24 and a follower portion 36 juxtaposed the hemming portion 34 .
  • the roller hemming apparatus 20 further includes a robot hand 38 rotatably supporting the hemming roller 30 and controlling the hemming roller 30 in the direction of motion of the hemming.
  • the roller hemming apparatus 20 also includes a lower die 40 having a hemming surface 42 for supporting the outer metal panel 24 thereon and a two dimensional guide 44 for guiding the hemming roller 30 along two axes A 1 , A 2 relative to the hemming motion.
  • the hemming roller follower portion 36 may be a V-shaped groove and the two dimensional guide 44 may be an edge 46 having a complementary wedge shaped section around the lower die 40 .
  • This guide 44 and follower 36 arrangement provides control of the hemming roller 30 along axes A 1 , A 2 relative to the hemming motion that are perpendicular to the two flat surfaces 48 , 50 of the edge 46 .
  • the flat surface 48 provides control in the A 1 direction and the flat surface 50 provides control in the A 2 direction, thereby axially stabilizing the hemming roller 30 .
  • Flat surfaces 48 , 50 also provide superior directional stability of the hemming roller 30 for prehemming operations where maintaining a prehem angle is important.
  • FIGS. 4 and 5 illustrate an alternative embodiment of the robotic roller hemming apparatus 120 .
  • the hemming roller follower portion 136 is a groove 137 having an arcuate cross section.
  • the two dimensional guide 144 is a complementary radius 145 around extending edge 146 of the lower die 140 .
  • the hemming roller 130 can be rotated around the radius 145 by rotating the hemming roller in a plane extending through the hemming roller axis.
  • Directional stability in the two directions A 1 , A 2 is maintained independent of the robotic positioning control.
  • This guide 144 and follower 136 arrangement provides the same non-robotic directional control in the A 1 , A 2 directions without the planar features 48 , 50 of the first described embodiment.
  • the combination of the groove 137 and radius 145 provides a line around the hemming die 140 about which the hemming roller axis H can be rotated allowing for prehemming of the hemming roller around a hem flange on lower die 140 while maintaining axial stability of the hemming roller 130 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge includes a hemming roller having a peripheral surface. The peripheral surface includes a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed the hemming portion. The hemming apparatus also includes a robot hand and a lower die. The robot hand rotatably supports the hemming roller and controls the hemming roller in the direction of motion of the hemming. The lower die has a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding the hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.

Description

    TECHNICAL FIELD
  • The present invention relates to joining nested metal panels to form vehicle closure panels and more particularly to robotic roller hemming.
    • BACKGROUND OF THE INVENTION
  • A conventional robotic roller hemming apparatus, as shown in FIG. 1, includes an angular guide surface 10 machined or ground on the side of an anvil 12 or lower die to locate a hem roller 14, this guide surface controls the hemming roller in a single direction D1 only during the prehem step. Control of the location of the hemming roller along other axes is provided by the robot positioning control. Conventionally, the guide surface 10 is cut roughly at a 45 degree angle relative to the hemming die in the local region. It is desirable to control the robotic hemming roller 14 in at least two directions independent of the robotic positioning control.
    • SUMMARY OF THE INVENTION
  • The present invention provides a robotic hemming roller that maintains positioning in at least two directions independent of the robotic positioning control. Accordingly, the robotic hemming roller includes a follower for following a two dimensional guide on an edge of a hemming anvil or hemming die as the hemming roller prehems a standing flange on a panel of the assembly being hemmed.
  • More specifically, the robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge includes a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed the hemming portion. The roller hemming apparatus also includes a robot hand rotatably supporting the hemming roller and controlling the hemming roller in the direction of motion of the hemming. A lower die having a hemming surface supports the outer metal panel thereon and includes a two dimensional guide for guiding the hemming roller along two axes relative to the hemming motion. The guide maintains axial positioning of the hemming roller independent of the robot hand.
  • In one embodiment, the hemming roller follower portion may be a V-shaped groove and the two dimensional guide may be a complementary wedge shaped section around an edge of the lower die. In another embodiment, the hemming roller follower portion may be a groove having an arcuate cross section and the two dimensional guide may be a complementary radius around an edge of the lower die, whereby the hemming roller can be rotated while maintaining directional stability in two directions independent of robotic positioning control.
  • These and other features and advantages of the invention will be more fully understood from the following detailed description of the invention taken together with the accompanying drawings.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • In the drawings:
  • FIG. 1 is a side view of a prior art roller hemming apparatus performing a hemming operation;
  • FIG. 2 is a side view of a robotic roller hemming apparatus in accordance with the present invention performing a hemming operation;
  • FIG. 3 is a side view of a hemming roller of the robotic roller hemming apparatus of FIG. 2;
  • FIG. 4 is a side view of an alternative embodiment of a robotic roller hemming apparatus in accordance with the present invention; and
  • FIG. 5 is an enlarged side view of the robotic roller hemming apparatus of FIG. 4 illustrating an arcuate follower and complementary guide.
    • DETAILED DESCRIPTION OF THE INVENTION
  • Referring now to the drawings in detail, numeral 20 generally indicates a robotic roller hemming apparatus in accordance with the present invention. The robotic roller hemming apparatus 20 maintains positioning of a hemming roller in at least two directions independent of the robotic positioning control.
  • As shown in FIGS. 2 and 3, the robotic hemming roller apparatus 20 for hemming an upturned edge 22 of an outer metal panel 24 over a peripheral edge 26 of an inner panel 28 superimposed on the outer panel 24 adjacent the upturned edge 22 includes a hemming roller 30 having a peripheral surface 32 including a hemming portion 34 for pressing the upturned edge 22 of the outer panel 24 and a follower portion 36 juxtaposed the hemming portion 34. The roller hemming apparatus 20 further includes a robot hand 38 rotatably supporting the hemming roller 30 and controlling the hemming roller 30 in the direction of motion of the hemming. The roller hemming apparatus 20 also includes a lower die 40 having a hemming surface 42 for supporting the outer metal panel 24 thereon and a two dimensional guide 44 for guiding the hemming roller 30 along two axes A1, A2 relative to the hemming motion.
  • In one embodiment, as shown in FIGS. 2 and 3, the hemming roller follower portion 36 may be a V-shaped groove and the two dimensional guide 44 may be an edge 46 having a complementary wedge shaped section around the lower die 40. This guide 44 and follower 36 arrangement provides control of the hemming roller 30 along axes A1, A2 relative to the hemming motion that are perpendicular to the two flat surfaces 48, 50 of the edge 46. The flat surface 48 provides control in the A1 direction and the flat surface 50 provides control in the A2 direction, thereby axially stabilizing the hemming roller 30. Flat surfaces 48, 50 also provide superior directional stability of the hemming roller 30 for prehemming operations where maintaining a prehem angle is important.
  • FIGS. 4 and 5 illustrate an alternative embodiment of the robotic roller hemming apparatus 120. In apparatus 120, the hemming roller follower portion 136 is a groove 137 having an arcuate cross section. The two dimensional guide 144 is a complementary radius 145 around extending edge 146 of the lower die 140. In this embodiment, the hemming roller 130 can be rotated around the radius 145 by rotating the hemming roller in a plane extending through the hemming roller axis. Directional stability in the two directions A1, A2 is maintained independent of the robotic positioning control. This guide 144 and follower 136 arrangement provides the same non-robotic directional control in the A1, A2 directions without the planar features 48, 50 of the first described embodiment. The combination of the groove 137 and radius 145 provides a line around the hemming die 140 about which the hemming roller axis H can be rotated allowing for prehemming of the hemming roller around a hem flange on lower die 140 while maintaining axial stability of the hemming roller 130.
  • Although the invention has been described by reference to specific embodiments, it should be understood that numerous changes may be made within the spirit and scope of the inventive concepts described. Accordingly, it is intended that the invention not be limited to the described embodiments, but that it have the full scope defined by the language of the following claims.

Claims (4)

1. Robotic roller hemming apparatus for hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge, the roller hemming apparatus comprising:
a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed said hemming portion;
a robot hand rotatably supporting said hemming roller and controlling the hemming roller in the direction of motion of the hemming; and
a lower die having a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding said hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.
2. Robotic roller hemming apparatus as in claim 1 wherein said hemming roller follower portion is a V-shaped groove and said two dimensional guide is an edge having a complementary wedge shaped section around said lower die.
3. Robotic roller hemming apparatus as in claim 1 wherein said hemming roller follower portion is a groove having an arcuate cross section and said two dimensional guide is a complementary radius around an edge of said lower die, whereby said hemming roller can be rotated while maintaining directional stability in two directions independent of robotic positioning control.
4. A method for roller hemming an upturned edge of an outer metal panel over a peripheral edge of an inner panel superimposed on the outer panel adjacent the upturned edge, the method comprising the steps of:
providing a hemming roller having a peripheral surface including a hemming portion for pressing the upturned edge of the outer panel and a follower portion juxtaposed said hemming portion;
providing a robot hand rotatably supporting said hemming roller and controlling the hemming roller in the direction of motion of the hemming; and
providing a lower die having a hemming surface for supporting the outer metal panel thereon and a two dimensional guide for guiding said hemming roller along two axes relative to the hemming motion, thereby maintaining axial positioning of the hemming roller independent of the robot hand.
US10/853,343 2004-05-25 2004-05-25 Robotic roller hemming alignment apparatus and method Abandoned US20050262912A1 (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2278538A1 (en) * 2006-01-25 2007-08-01 Mb Sistemas, S.Coop. Roller crimping system
US20080307630A1 (en) * 2005-12-05 2008-12-18 Honda Motor Co., Ltd. Hemming Working Method and Working Apparatus
US20090089995A1 (en) * 2007-10-05 2009-04-09 Hirotec America, Inc. Roller hemming system
US20090139293A1 (en) * 2005-06-21 2009-06-04 Honda Motor Co., Ltd. Hemming method and hemming apparatus
US20090301158A1 (en) * 2006-06-21 2009-12-10 Mario Hermann Method for folding an edge of a sheet component in particular a sheet component of a motor vehicle chassis
US20100281940A1 (en) * 2009-03-12 2010-11-11 Harrow Aaron E Vertical air compliant hemming head
FR2987289A1 (en) * 2012-02-28 2013-08-30 Peugeot Citroen Automobiles Sa Device for accurately positioning crimping blade for crimping edges of metal parts in automobile industry, has positioning gauge comprising faces, where re-entrant angle is formed between faces that is complementary to salient angle
EP2662162A4 (en) * 2011-01-07 2016-08-24 Toyota Motor Co Ltd Roller hemming device
US10758958B2 (en) * 2017-10-16 2020-09-01 Toyota Jidosha Kabushiki Kaisha Roller hemming processing method and roller hemming processing device
FR3101266A1 (en) 2019-09-30 2021-04-02 Psa Automobiles Sa CRIMPING TOOL AND METHOD FOR CRIMPING THE EDGES OF TWO SHEET PIECES

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2091474A (en) * 1936-11-25 1937-08-31 Int Harvester Co Edge clinching mechanism
US5224253A (en) * 1991-08-01 1993-07-06 Triengineering Co., Ltd. Apparatus for hemming a workpiece having an upturned edge
US5228190A (en) * 1992-07-09 1993-07-20 Triengineering Company, Ltd. Roller type hemming apparatus
US5267387A (en) * 1991-08-01 1993-12-07 Triengineering Co., Ltd. Method for hemming a workpiece having an upturned edge
US6425277B2 (en) * 1999-12-30 2002-07-30 Unova Ip Corp. Sheet metal hemming method and apparatus
US6810707B2 (en) * 2002-05-10 2004-11-02 Ford Motor Company Compressed-radius hem-forming process and tool
US20050086989A1 (en) * 2003-10-24 2005-04-28 Ford Global Technologies, Llc Apparatus for roll hemming with zero angle deflection

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2091474A (en) * 1936-11-25 1937-08-31 Int Harvester Co Edge clinching mechanism
US5224253A (en) * 1991-08-01 1993-07-06 Triengineering Co., Ltd. Apparatus for hemming a workpiece having an upturned edge
US5267387A (en) * 1991-08-01 1993-12-07 Triengineering Co., Ltd. Method for hemming a workpiece having an upturned edge
US5228190A (en) * 1992-07-09 1993-07-20 Triengineering Company, Ltd. Roller type hemming apparatus
US6425277B2 (en) * 1999-12-30 2002-07-30 Unova Ip Corp. Sheet metal hemming method and apparatus
US6810707B2 (en) * 2002-05-10 2004-11-02 Ford Motor Company Compressed-radius hem-forming process and tool
US20050086989A1 (en) * 2003-10-24 2005-04-28 Ford Global Technologies, Llc Apparatus for roll hemming with zero angle deflection

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7950260B2 (en) * 2005-06-21 2011-05-31 Honda Motor Co., Ltd. Hemming method and hemming apparatus
US20090139293A1 (en) * 2005-06-21 2009-06-04 Honda Motor Co., Ltd. Hemming method and hemming apparatus
US20080307630A1 (en) * 2005-12-05 2008-12-18 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
EP2108468A3 (en) * 2005-12-05 2009-12-09 Honda Motor Co., Ltd. Hemming method and hemming device
EP2116318A3 (en) * 2005-12-05 2010-06-23 Honda Motor Co., Ltd. Hemming device
US8272243B2 (en) 2005-12-05 2012-09-25 Honda Motor Co., Ltd. Hemming working method and working apparatus
WO2007085678A1 (en) * 2006-01-25 2007-08-02 Mb Sistemas, S.Coop. Roller crimping system
ES2278538A1 (en) * 2006-01-25 2007-08-01 Mb Sistemas, S.Coop. Roller crimping system
US8302444B2 (en) * 2006-06-21 2012-11-06 Thyssenkrupp Drauz Nothelfer Gmbh Method for folding an edge of a sheet component in particular a sheet component of a motor vehicle chassis
US20090301158A1 (en) * 2006-06-21 2009-12-10 Mario Hermann Method for folding an edge of a sheet component in particular a sheet component of a motor vehicle chassis
US8127423B2 (en) * 2007-10-05 2012-03-06 Hirotec America, Inc. Roller hemming system
US20090089995A1 (en) * 2007-10-05 2009-04-09 Hirotec America, Inc. Roller hemming system
US20100281940A1 (en) * 2009-03-12 2010-11-11 Harrow Aaron E Vertical air compliant hemming head
EP2662162A4 (en) * 2011-01-07 2016-08-24 Toyota Motor Co Ltd Roller hemming device
FR2987289A1 (en) * 2012-02-28 2013-08-30 Peugeot Citroen Automobiles Sa Device for accurately positioning crimping blade for crimping edges of metal parts in automobile industry, has positioning gauge comprising faces, where re-entrant angle is formed between faces that is complementary to salient angle
US10758958B2 (en) * 2017-10-16 2020-09-01 Toyota Jidosha Kabushiki Kaisha Roller hemming processing method and roller hemming processing device
FR3101266A1 (en) 2019-09-30 2021-04-02 Psa Automobiles Sa CRIMPING TOOL AND METHOD FOR CRIMPING THE EDGES OF TWO SHEET PIECES

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AS Assignment

Owner name: TESCO ENGINEERING, INC., MICHIGAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:TOENISKOETTER, JAMES B.;REEL/FRAME:015385/0324

Effective date: 20040518

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION