US20100313621A1 - Roller hemming apparatus and roller hemming method - Google Patents

Roller hemming apparatus and roller hemming method Download PDF

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Publication number
US20100313621A1
US20100313621A1 US12/778,433 US77843310A US2010313621A1 US 20100313621 A1 US20100313621 A1 US 20100313621A1 US 77843310 A US77843310 A US 77843310A US 2010313621 A1 US2010313621 A1 US 2010313621A1
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US
United States
Prior art keywords
roller
hemming
adjusting mechanism
flange
load
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.)
Abandoned
Application number
US12/778,433
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English (en)
Inventor
Toru Kumagai
Fujio Motoki
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.)
Honda Motor Co Ltd
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Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Assigned to HONDA MOTOR CO., LTD. reassignment HONDA MOTOR CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KUMAGAI, TORU, MOTOKI, FUJIO
Publication of US20100313621A1 publication Critical patent/US20100313621A1/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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/188—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding)

Definitions

  • the present disclosure relates to a roller hemming apparatus and a roller hemming method, and more particularly to a roller hemming apparatus and a roller hemming method for hemming a flange which is formed on a workpiece.
  • Body panels of a motor vehicle such as a door panel, a side panel or a hood are made up of an outer panel and an inner panel which are integrated with each other.
  • a process of integrating an outer panel and an inner panel includes, for example, a marriage step of superposing an inner panel on an outer panel having a flange formed so as to extend upwards and a hemming step of bending the flange of the outer panel inwards thereof by a roller hemming apparatus.
  • JP-A-2008-023587 discloses a related-art roller hemming apparatus including a main body, a roller supported rotatably on the main body, and a moving mechanism provided on the main body for moving the roller in a direction of a rotating axis thereof.
  • a position of the roller in the rotating axis direction is adjusted in advance according to property of the outer panel. Then, by moving the roller hemming apparatus along an end edge of the outer panel, the flange of the outer panel is pressed by the roller so as to bend the flange inwards of the outer panel.
  • Illustrative aspects of the present invention provide a roller hemming apparatus in which a flange shape of a workpiece after hemming can be constant, and a roller hemming method.
  • a roller hemming apparatus for hemming a flange formed on a workpiece, comprising: a main body; a cylindrical roller supported rotatably on the main body; a first position adjusting mechanism for adjusting a first position of the roller with respect to a direction which is perpendicular to a rotating axis direction of the roller; a second position adjusting mechanism for adjusting a second position of the roller with respect to the rotating axis direction; and a control unit for controlling the first position adjusting mechanism and the second position adjusting mechanism, wherein the control unit adjusts the first position of the roller by controlling the first position adjusting mechanism to bring the roller into abutment with a third position which is spaced by a given distance apart from a bending point of the flange, and wherein the control unit adjusts the second position of the roller by detecting a load acting on the roller in an axial direction of the roller as a drive load, calculating a difference between the drive load and a given master
  • FIG. 1 is an overall perspective view showing a roller hemming system using a roller hemming apparatus according to an exemplary embodiment of the invention
  • FIG. 2 is an enlarged perspective view showing a working table of the roller hemming system
  • FIG. 3 is a perspective view showing the roller hemming apparatus
  • FIG. 4 is a diagram showing a configuration of a control means of the roller hemming apparatus
  • FIG. 5 is a flowchart showing operations for adjusting a position of a hemming roller of the roller hemming apparatus with respect to a rotating axis direction;
  • FIG. 6 is a diagram showing an operation in which the hemming roller of the roller hemming apparatus is brought into abutment with a flange or a workpiece;
  • FIG. 7 is another diagram showing an operation in which the hemming roller of the roller hemming apparatus is brought into further abutment with the flange of the workpiece.
  • FIG. 8 is a further diagram showing an operation in which the hemming roller of the roller hemming apparatus is brought into still further abutment with the flange of the workpiece.
  • FIG. 1 is an overall perspective view showing a roller hemming system 1 using a roller hemming apparatus 10 according to an exemplary embodiment of the invention.
  • the roller hemming system 1 includes a working table 30 on which an outer panel 20 as a workpiece is placed, a robot 40 placed in a vicinity of the working table 30 , and a controller 50 for controlling the robot 40 .
  • the outer panel 20 is such as to be formed by bending a panel and includes a flat plate-like base portion 21 and a flange 22 which is formed on a circumferential edge of the base portion 21 .
  • FIG. 2 is an enlarged perspective view showing the working table 30 .
  • the working table 30 includes a support 31 ( FIG. 1 ) provided on a floor and a die 32 supported on the support 31 .
  • a circumferential edge portion of an upper face of the die 32 is made higher than a central portion thereof, whereby a riser plane 321 is formed along the circumferential edge portion.
  • the outer panel 20 is disposed so that the flange 22 is brought into abutment with the riser plane 321 .
  • a groove 322 is formed on a lower face of the die 32 so as to extend along the circumferential edge portion. Accordingly, the groove 322 is made parallel to a direction in which the flange 22 of the outer panel 20 extends.
  • the robot 40 includes a base portion 41 fixed to the floor and a robot arm 42 which is provided on the base portion 41 for adjusting a position and a posture of the roller hemming apparatus 10 in a three-dimensional space.
  • FIG. 3 is a perspective view showing the roller hemming apparatus 10 .
  • the roller hemming apparatus 10 is attached to a distal-end flange 42 a of the robot arm 42 .
  • the roller hemming apparatus 10 includes a main body 11 , a hemming roller 12 as a cylindrical roller supported rotatably on the main body 11 , a pressing mechanism 13 as a first position adjusting mechanism which is provided on the main body 11 for adjusting a position of the hemming roller 12 in a direction which is perpendicular to a rotating axis direction thereof, and a pushing mechanism 14 as a second position adjusting mechanism which is provided on the main body 11 for adjusting a position of the hemming roller 12 in the rotating axis direction.
  • the main body 11 includes an outer housing 15 in which an elongated hole portion 15 a is formed, a hemming roller supporting portion 16 which projects from the hole portion 15 a in the outer housing 15 to support rotatably the hemming roller 12 , the pushing mechanism 14 for adjusting a position of the hemming roller supporting portion 16 , a circular disc-like guide roller 17 which is provided so as to confront the hemming roller 12 , and a roller supporting portion 18 which projects from the hole portion 15 a in the outer housing 15 to support rotatably the guide roller 17 .
  • the guide roller supporting portion 18 includes a supporting portion main body 18 a for supporting the guide roller 17 rotatably and an arm 18 b which projects from the hole portion 15 a in the outer housing 15 to support the supporting portion main body 18 a rotatably about a rotating axis which is directed perpendicular to the rotating axis of the hemming roller 12 . Accordingly, a rotating axis of the guide roller 17 becomes parallel to the rotating axis of the hemming roller 12 or is inclined relative to the rotating axis of the hemming roller 12 .
  • a distal end face 121 of the hemming roller 12 is chamfered so as to have two tapering surfaces as the first position adjusting mechanism (refer to FIG. 6 ).
  • the two tapering surfaces are made up of a first tapering surface 122 which is formed on a distal end side of the hemming roller 12 and a second tapering surface 123 which is formed closer to a proximal end side of the hemming roller 12 than the first tapering surface 122 and whose inclination angle relative to the rotating axis is smaller than that of the first tapering surface 122 .
  • the rotating axis of the hemming roller 12 extends in a direction in which the hemming roller 12 projects from or retreats into the hole portion 15 a in the outer housing 15 .
  • the pushing mechanism 14 includes a servo motor 141 , a ball screw connected to a rotating shaft (not shown) of the servo motor 141 , a nut portion, not shown, which is fixed to the hemming roller supporting portion 16 and which screws on the ball screw, a load detection sensor 142 for detecting a torque as a drive load acting on the servo motor 141 , and a position detection sensor 143 for detecting an axial position of the hemming roller 12 .
  • This pushing mechanism 14 moves the hemming roller supporting portion 16 in the direction in which the hemming roller supporting portion 16 projects from or retreats into the outer housing 15 by driving the servo motor 141 to rotate the ball screw. Namely, the pushing mechanism 14 moves the hemming roller supporting portion 16 along the rotating axis direction of the hemming roller 12 .
  • the pressing mechanism 13 adjusts a space between the hemming roller 12 and the guide roller 17 by moving at least one of the hemming roller supporting portion 16 and the guide roller supporting portion 18 .
  • the guide roller 17 can fit in the groove 322 provided in the die 32 at a circumferential edge thereof.
  • FIG. 4 is a diagram showing a configuration of the controller 50 .
  • the controller 50 is provided with a Central Processing Unit (CPU) for processing various functions, and a memory for storing tables which stores data and programs which executes various functions.
  • CPU Central Processing Unit
  • the controller 50 controls the robot arm 42 of the robot 40 and also controls the roller hemming apparatus 10 .
  • the controller 50 includes an arm control unit 51 for controlling the robot arm 42 of the robot, a pressure control unit 52 for controlling the pressing mechanism 13 , a position command value data table 53 for storing a command value for a position of the hemming roller 12 with respect to the rotating axis direction thereof as a position command value, a pushing control unit 54 for controlling the servo motor 141 of the pushing mechanism 14 based on the position command value stored in the position command value data table 53 , a master load data table 55 for storing a torque reference value as a master load, a differential load calculation unit 56 for calculating a difference between a toque detected by the load detection sensor 142 and the torque reference value stored in the master load data table 55 , a position command value calculation unit 57 for calculating a position command value according to the difference calculated at the differential load calculation unit 56 , a position command value changing unit 58 for causing the position command value calculated at the position command value calculation unit 57 to be stored in the position command value data table 53 , and a master load changing unit
  • the pushing control unit 54 reads out the position command value stored in the position command value data table 53 and controls a current to be supplied to the servo motor 14 while monitoring the position of the hemming roller 12 by the position detection sensor 143 so that the hemming roller 12 is located in a given position which matches the position command value.
  • the differential load calculation unit 56 calculates a torque difference by reading out the torque reference value stored in the master load data table 55 and subtracting the torque reference value from the torque detected by the load detection sensor 142 .
  • the position command value calculation unit 57 increases the position command value in the rotating axis direction of the hemming roller 12 when the difference calculated by the differential load calculation unit 56 is positive.
  • the position command value calculation unit 57 increases the position command value so as to cause the hemming roller 12 to project from the outer housing 15 .
  • the master load changing unit 59 sets the torque detected by the load detection sensor 142 as a new torque reference value and causes the new torque reference value to be stored in the master load data table 55 .
  • FIG. 5 is a flowchart showing operations for adjusting the position of the hemming roller 12 in the rotating axis direction thereof.
  • step S 1 the pushing control unit 54 reads out the position command value stored in the position command value data table 53 . Then, by controlling the current that is supplied to the servo motor 141 provided in the pushing mechanism 14 so that the hemming roller 12 is located in the given position which matches the position command value, the hemming roller 12 is caused to move towards the given position in the rotating axis direction thereof.
  • step S 2 the pushing control unit 54 determines whether or not the position of the hemming roller 12 detected by the position detection sensor 143 has reached the given position.
  • step S 4 If the determination is YES, the flow of operations proceeds to step S 4 , whereas if the determination is NO, the flow of operations proceeds to step S 3 .
  • step S 3 the pushing control unit 54 increases the current to be inputted into the servo motor 141 provided in the pushing mechanism 14 , and the flow of operations returns to step S 1 .
  • step S 4 since the hemming roller 12 has reached the given position which matches the position command value, the differential load calculation unit 56 calculates a difference between the torque detected by the load detection sensor 142 and the torque reference value stored in the master load data table 55 .
  • step S 5 the position command value calculation unit 57 determines whether or not the difference calculated at the differential load calculation unit 55 is positive. If the determination is YES, the flow of operations proceeds to step S 6 , whereas if the determination is NO, the flow of operations ends.
  • step S 6 since the difference calculated at the differential load calculation unit 56 is positive, it is determined that the deformation resistance of the outer panel 20 is high, and then the position command value calculation unit 57 increases the position command value, and the position command value changing unit 58 causes the increased position command value to be stored in the position command value data table 53 .
  • step S 7 the master load changing unit 59 sets the torque detected by the load detection sensor 142 as a new torque reference value and causes the new torque reference value to be stored in the master load data table 55 , and the flow of operations returns to step S 1 .
  • the roller hemming system 1 will operates as will be described below.
  • the outer panel 20 is disposed on the die 32 so that the flange 22 is in abutment with the riser plane 321 .
  • an inner panel is disposed on the outer panel 20 .
  • the robot arm 42 of the robot 40 is controlled by the arm control unit 51 of the controller 50 so that the roller hemming apparatus 10 approaches the working table 30 so as to allow the guide roller 17 of the roller hemming apparatus 10 to fit in the groove 322 on the lower face of the die 32 .
  • the pressing mechanism 13 is controlled by the pressure control unit 52 of the controller 50 so that the space between the hemming roller 12 and the guide roller 17 gets narrower so as to allow the hemming roller 12 to be disposed on the circumferential edge portion on the upper face of the die 32 .
  • the hemming roller 12 is caused to project from the outer housing 15 by the pushing mechanism 14 , and as shown in FIG. 6 , the distal end face 121 of the hemming roller 12 is brought into abutment with the flange 22 of the outer panel 20 .
  • the hemming roller 12 is caused to further project from the outer housing 15 by the pushing mechanism 15 , and as shown in FIG. 7 , a corner portion between the distal end face 121 of the hemming roller 12 and the first tapering surface 122 is brought into abutment with the flange 22 of the outer panel 20 so as to press the flange 22 .
  • the abutment position of the hemming roller 12 is located in a position which is spaced by a given distance B 1 apart from a bending point A of the flange 22 .
  • the hemming roller apparatus 10 moves along the flange 22 . Then, the flange 22 is pressed to be bent by the hemming roller 12 .
  • the position of the hemming roller 12 is adjusted with respect to the rotating axis direction thereof while the hemming roller apparatus 10 moves along the flange 22 .
  • the position of the hemming roller 12 is adjusted so that the hemming roller 12 projects from the outer housing 15 .
  • the hemming roller 12 is caused to project further from the outer housing 15 by the pushing roller 14 , and as shown in FIG. 8 , a corner portion between the first tapering surface 122 and the second tapering surface 123 is brought into abutment with the flange 22 of the outer panel 20 so as to press the flange 22 .
  • the hemming roller 12 is positioned in a direction in which the flange 22 is bent largely.
  • a distance between the abutment position of the hemming roller 12 and the bending point A becomes shorter B 2 than the given distance B 1 .
  • the deformation resistance of the outer panel 20 can be detected as a load acting on the hemming roller 12 in the axial direction thereof.
  • the deformation resistance is in proportion to the torque of the servo motor 141 . Consequently, by adjusting the position of the hemming roller 12 in the rotating axis direction thereof according to the torque by the pushing mechanism 14 , the pressing force exerted on the flange 22 by the hemming roller 12 can be changed according to the deformation resistance of the outer panel 20 .
  • shapes of hemmed flanges 22 of outer panels 20 can be made constant by changing the hemming conditions as required.
  • the hemming roller 12 When the torque detected by the load detection sensor 142 is larger than the torque reference value, the hemming roller 12 is positioned in the direction in which the flange 22 is bent largely. Namely, when the deformation resistance of the outer panel 20 is large, the pressing force exerted on the flange 22 by the hemming roller 12 is increased by adjusting the position of the hemming roller 12 with respect to the rotating axis direction thereof. Consequently, shapes of hemmed flanges 22 of outer panels 20 after hemming can be made constant in an ensured fashion.
  • the riser plane 321 is provided on the die 32 so as to determine the abutment position of the hemming roller 12 with the flange 22
  • the invention is not limited thereto.
  • the abutment position of the hemming roller 12 with the flange 22 may be determined by controlling the position of the hemming roller 12 with respect to a direction which is perpendicular to the rotating axis direction thereof or providing a stepped portion on the distal end face 121 of the hemming roller 12 .
  • the position command value calculation unit 57 increases the position command value at all times in proportion to a magnitude of the difference
  • the invention is not limited thereto. For example, even if the difference calculated is positive, when the magnitude of the difference exceeds a given range, it is determined that the hemming operation should not be allowed, and driving the roller hemming apparatus 10 may be stopped to cease the hemming operation while informing the occurrence of an error.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
US12/778,433 2009-06-12 2010-05-12 Roller hemming apparatus and roller hemming method Abandoned US20100313621A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-140977 2009-06-12
JP2009140977A JP5215946B2 (ja) 2009-06-12 2009-06-12 ローラヘミング装置およびローラヘミング方法

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JP (1) JP5215946B2 (zh)
CN (1) CN101920284B (zh)
DE (1) DE102010030004B4 (zh)

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US20080307630A1 (en) * 2005-12-05 2008-12-18 Honda Motor Co., Ltd. Hemming Working Method and Working Apparatus
DE102010041394A1 (de) * 2010-09-27 2012-03-29 Bayerische Motoren Werke Aktiengesellschaft Rollbördelanlage
WO2012107553A1 (de) * 2011-02-11 2012-08-16 Kuka Systems Gmbh Falzwerkzeug und falzverfahren
US20120204412A1 (en) * 2011-02-10 2012-08-16 GM Global Technology Operations LLC Method of joining by roller hemming and solid state welding and system for same
US20150121983A1 (en) * 2013-11-01 2015-05-07 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
WO2016074916A1 (de) * 2014-11-12 2016-05-19 Thyssenkrupp Steel Europe Ag Verfahren und vorrichtung zum ausbilden eines rollfalzes
US20160136709A1 (en) * 2014-11-14 2016-05-19 Ferrobotics Compliant Robot Technology Gmbh Apparatus and Method for Robotic Roller Hemming
US9364882B2 (en) 2012-05-08 2016-06-14 Honda Motor Co., Ltd. Roller hemming device and roller hemming method
US20180050377A1 (en) * 2016-08-16 2018-02-22 Kia Motors Corporation Smart active control roller hemming device and system
US20190070655A1 (en) * 2017-09-07 2019-03-07 Hyundai Motor Company Roller hemming apparatus
US11097328B2 (en) * 2018-12-05 2021-08-24 Hyundai Motor Company Panel hemming device and a method of hemming using the same
CN114453471A (zh) * 2020-11-10 2022-05-10 财团法人工业技术研究院 钣件折边装置
US11684961B2 (en) * 2019-04-25 2023-06-27 Subaru Corporation Roller hemming device and preliminary bending method using the device

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US9925579B2 (en) * 2013-06-10 2018-03-27 Honda Motor Co., Ltd. Processing tool and hemming device
CN103941638A (zh) * 2014-04-23 2014-07-23 上海戴镁机电科技有限公司 一种控制滚边机器人进行精确滚边的系统及方法
WO2017134970A1 (ja) * 2016-02-02 2017-08-10 本田技研工業株式会社 ワーク曲げ加工方法及びワーク曲げ加工装置
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US8272243B2 (en) * 2005-12-05 2012-09-25 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
DE102010041394A1 (de) * 2010-09-27 2012-03-29 Bayerische Motoren Werke Aktiengesellschaft Rollbördelanlage
US20120204412A1 (en) * 2011-02-10 2012-08-16 GM Global Technology Operations LLC Method of joining by roller hemming and solid state welding and system for same
US8640320B2 (en) * 2011-02-10 2014-02-04 GM Global Technology Operations LLC Method of joining by roller hemming and solid state welding and system for same
WO2012107553A1 (de) * 2011-02-11 2012-08-16 Kuka Systems Gmbh Falzwerkzeug und falzverfahren
US9527215B2 (en) 2011-02-11 2016-12-27 Kuka Systems Gmbh Folding device and folding method
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US20150121983A1 (en) * 2013-11-01 2015-05-07 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
US9908160B2 (en) * 2013-11-01 2018-03-06 Kabushiki Kaisha Yaskawa Denki Robot system and method for producing to-be-processed material
WO2016074916A1 (de) * 2014-11-12 2016-05-19 Thyssenkrupp Steel Europe Ag Verfahren und vorrichtung zum ausbilden eines rollfalzes
US10478883B2 (en) * 2014-11-14 2019-11-19 Ferrobotics Complaint Robot Technology GmbH Apparatus and method for robotic roller hamming
US20160136709A1 (en) * 2014-11-14 2016-05-19 Ferrobotics Compliant Robot Technology Gmbh Apparatus and Method for Robotic Roller Hemming
US20180050377A1 (en) * 2016-08-16 2018-02-22 Kia Motors Corporation Smart active control roller hemming device and system
US10166587B2 (en) * 2016-08-16 2019-01-01 Kia Motors Corporation Smart active control roller hemming device and system
US20190070655A1 (en) * 2017-09-07 2019-03-07 Hyundai Motor Company Roller hemming apparatus
US10799932B2 (en) * 2017-09-07 2020-10-13 Hyundai Motor Company Roller hemming apparatus
US11097328B2 (en) * 2018-12-05 2021-08-24 Hyundai Motor Company Panel hemming device and a method of hemming using the same
US11684961B2 (en) * 2019-04-25 2023-06-27 Subaru Corporation Roller hemming device and preliminary bending method using the device
CN114453471A (zh) * 2020-11-10 2022-05-10 财团法人工业技术研究院 钣件折边装置
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DE102010030004A1 (de) 2010-12-16
JP5215946B2 (ja) 2013-06-19

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