WO2015125084A1 - Tête d'ourlage à rouleaux comprenant une unité porte-rouleaux - Google Patents

Tête d'ourlage à rouleaux comprenant une unité porte-rouleaux Download PDF

Info

Publication number
WO2015125084A1
WO2015125084A1 PCT/IB2015/051231 IB2015051231W WO2015125084A1 WO 2015125084 A1 WO2015125084 A1 WO 2015125084A1 IB 2015051231 W IB2015051231 W IB 2015051231W WO 2015125084 A1 WO2015125084 A1 WO 2015125084A1
Authority
WO
WIPO (PCT)
Prior art keywords
head
hemming
roller
robot
quick
Prior art date
Application number
PCT/IB2015/051231
Other languages
English (en)
Inventor
Valeria Serpi
Original Assignee
Comau S.P.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Comau S.P.A. filed Critical Comau S.P.A.
Priority to KR1020167022091A priority Critical patent/KR20160120728A/ko
Priority to CN201580009602.6A priority patent/CN106255559A/zh
Priority to EP15711849.8A priority patent/EP3107668A1/fr
Priority to US15/119,413 priority patent/US20170056953A1/en
Priority to MX2016010297A priority patent/MX2016010297A/es
Priority to CA2937211A priority patent/CA2937211A1/fr
Publication of WO2015125084A1 publication Critical patent/WO2015125084A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors
    • B21D39/023—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors using rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0019—End effectors other than grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means

Definitions

  • the present invention relates to roller hemming heads, of the type comprising:
  • a roller hemming head of the above indicated type is disclosed for example in WO 2012/160512 of the same Applicant.
  • the head has a lower portion comprising an outer cylindrical body slidably mounted on an inner cylindrical body forming part of the upper head portion.
  • the lower head portion directly and freely rotatably supports a pair of hemming rollers projecting from opposite sides of the head and adapted to be used selectively during a hemming operation.
  • the hemming rollers have a common axis orthogonal to the common axis of the two outer and inner cylindrical bodies of the head.
  • WO 2012/160512 provides for the hemming head to operate both according to a "push” mode, i.e. with one of the two hemming rollers being pushed with its lower side (with reference to a vertical orientation of the head) against a piece to be hemmed, and according to a "pull” mode, i.e. with the head being subjected to a pulling action, so that the upper side of one of the hemming rollers (again with reference to a vertical orientation of the head) is engaged against the piece to be hemmed.
  • the known hemming head comprises an upper helical spring and a lower helical spring arranged aligned along the common axis of the outer and inner cylindrical bodies of the head.
  • a quick-release device is also provided for uncoupling a single hemming roller from the head lower portion.
  • the release of the roller can be activated by any operating member located outside of the head, which is engaged against a release member provided adjacent to each hemming roller.
  • hemming heads which include a quick- connection device at their upper end, through which the entire hemming head carried by the robot can be quickly replaced.
  • These solutions are however uselessly complicated and expensive, in cases where only the hemming rollers would need to be replaced.
  • the quick- connection devices used in this case require providing the robot with electric cables and hoses for supplying fluid under pressure, which are necessary for controlling the operation of the quick-connection device.
  • these cables and hoses have the drawback to be subjected to continuous deformations during the operative life of the robot, so that they must be periodically replaced due to wear thereof, thus giving rise to additional costs and productivity losses caused by the maintenance stops.
  • the main object of the present invention is that of providing a roller hemming head which enables the hemming rollers to be replaced and yet has a simple and inexpensive structure, which does not require the provision of additional electric cables and/or supply hoses on the robot carrying the hemming head.
  • a further object is that of providing a hemming head which achieves the above mentioned purpose through a new and advantageous head architecture, while not involving substantial increases in cost with respect to the conventional hemming heads.
  • a further preferred object is that of providing a hemming head which is more efficient and less complicated in use with respect to the known solutions.
  • roller hemming head comprising:
  • said head further includes:
  • roller-carrying unit carrying the hemming rollers and adapted to be separated as a whole from said head lower portion
  • an actuating member movable against the action of said spring means for releasing the connection, and adapted to be operated by an engagement member, said engagement member being provided at a fixed station adjacent to said robot or adjacent to said other movable equipment supporting the head and being adapted to be received within a cooperating seat of the head,
  • the hemming rollers of the head are all carried by a single roller-carrying unit which can be separated as a whole from the lower head portion and thus quickly replaced.
  • the device for quick change of the roller-carrying unit does not require the provision of electric cables and/or additional supply hoses on the robot, which simplifies and lowers the cost of the robot structure.
  • the elimination of cables and the hoses on the robot is two-fold advantageous, since these cables and hoses are subjected to continuous deformations during the operative life of the robot, with the result that they must be periodically replaced, with additional costs and productivity losses due to maintenance stops.
  • the present invention also provides a hemming fixed station, comprising a robot or other supporting movable equipment, and a hemming head having the above indicated features, carried by said robot or by said other movable supporting equipment.
  • the hemming head further comprises a fixed station adjacent to said robot or to said movable equipment supporting the head, said fixed station including an engagement member which can be engaged within a cooperating seat of the head when said robot or said movable supporting equipment brings the head to a position adjacent to said fixed station, in order to activate the actuating member for release of the connection between the lower portion of the hemming head and the roller-carrying unit.
  • a movable magazine for roller-carrying units comprising a plurality of structures for receiving the roller-carrying units, which can be moved along an open or closed path, so that an empty receiving structure can be provided at a position for receiving a roller-carrying unit when the latter is uncoupled from the hemming head, and a receiving structure occupied by a new roller-carrying unit can therefore be brought to said position for coupling the new roller-carrying unit with the hemming head.
  • the quick- connection device connecting the roller-carrying unit to the head lower portion can be made according to any conventional technique.
  • this device is made according to the teachings of document EP 1 810 777 A1 , assigned to Pascal Engineering Corporation.
  • the quick-connection device disclosed in this document is for connection of piece-carrying pallets onto pallet- carrying structures provided along a pallet conveyor device.
  • this connection device can be advantageously used also for the purposes of the present invention.
  • the actuating member which causes release of the connection is operated by hydraulic means. Therefore, in case the present invention makes use of this known device, the above mentioned engagement member provided at the fixed station is adapted to establish a hydraulic communication between a hydraulic chamber provided within the connection device and a source of pressurized hydraulic fluid.
  • operation of the actuating member for release of the connection could be obtained in any other way, such as by means of pressurized air or also by mechanical means.
  • the engagement member which is received within the cooperating seat on the hemming head comprises for example a pushing member which engages a corresponding actuating member provided within the seat of the head in order to cause release of the connection.
  • connection device when the engagement member is retracted from the corresponding seat in the head, the spring means provided in the connection device automatically cause return of this device to a condition of rigid connection between the new roller-carrying unit and the lower portion of the hemming head.
  • the head according to the invention preferably has the further features which are indicated in the annexed dependent claims.
  • figure 1 is a lateral diagrammatic view of a hemming head according to the prior art, carried on the terminal portion of a multi-axis industrial robot,
  • figure 2 is a view in cross-section and at an enlarged scale of the hemming head of figure 1
  • figure 3 is a perspective view which shows a further known solution, in which a device is provided for quick replacement of the hemming head carried by a robot
  • FIGS. 3A, 3B are diagrammatic lateral views which show a hemming head with the conventional head change device which is shown in figure 3, compared with a head which is not provided with this device, figure 4 is a perspective view of one embodiment of the hemming head according to the invention,
  • figure 5 is a diagrammatic cross-sectional view of the hemming head of figure 4,
  • figure 5A shows a detail of figure 5 at an enlarged scale
  • figure 6 is a diagrammatic view in cross-section of a quick- connection device known per se, which can be used in the hemming head of the invention.
  • figure 7 shows an exemplary embodiment of a hemming fixed station according to the invention.
  • Figure 1 shows one example of hemming head according to the prior art known from WO 2012/160512.
  • reference numeral 10 generally designates a hemming head carried by a multi axis industrial robot R, of which only the terminal part is visible, having a wrist 14 able to move and orient the head 10 in a three-dimensional space.
  • robot R is electronically connected to a controller (not shown) which is programmed for moving and orienting the hemming head 10 along a predetermined path for performing a hemming operation, according to what will be described more in detail in the following with reference to figure 7 of the annexed drawings.
  • the head 10 includes an upper portion 20 rigidly connected to an universal connecting flange 22, of circular shape, for connection to the robot wrist.
  • the flange has a plurality of holes for engagement of connecting bolts (not shown) for connection to the robot wrist, according to a technique which is conventional per se.
  • the hemming head 10 further comprises a lower portion 24 which freely rotatably supports two hemming rollers 26, 27 around a common axis 28 which is orthogonal with respect to the longitudinal axis 100 of the hemming head 10.
  • the lower head portion 24 comprises an outer cylindrical body 240 slidably mounted on an inner cylindrical body 200 forming part of the upper portion 20 of the head, which is connected to the connection flange 22.
  • the head 10 according to the prior art further comprises two helical springs 30A, 30B aligned along the head axis 100. The ends of springs 30A, 30B which are more remote from each other rest against end elements of the inner cylindrical body 20, whereas the ends of springs 30A, 30B which are closer to each other rest against opposite faces of an intermediate element 32 which is rigidly connected to the outer cylindrical body 240, through diametrically opposite slots formed in the inner cylindrical body 200.
  • the hemming head 10 shown in figures 1 , 2 can be used both according to a "push” mode and according to a "pull” mode.
  • the robot 10 pushes the hemming head 10 against a piece so as to use one of the two hemming rollers 26, 27 for performing the hemming operation with the portion of the roller which faces downwardly (with reference to figures 1 , 2).
  • the robot 12 pulls the hemming head 10 towards the flange 22, i.e. upwardly with reference to figures 1 , 2, so as to use the upwardly facing side (with reference to the figures) of one of the hemming rollers 26, 27 for performing the hemming operation.
  • the inner cylindrical body 200 which is rigidly connected to the connection flange 22 tends to move downwardly
  • each of the hemming rollers 26, 27 can be quickly replaced by means of a quick-connection device which can be operated by a robot or any other automatic or manual mechanism adapted to engage a release device provided on the head.
  • a quick-connection device which can be operated by a robot or any other automatic or manual mechanism adapted to engage a release device provided on the head.
  • Figure 3 of the annexed drawings shows a further known solution used by the same Applicant, in which a hemming head similar to that of figures 1 , 2 can be quickly uncoupled from the robot by which it is carried with the use of a quick-connection device 30 interposed between the connection flange 22 located at the upper end of the hemming head 10, and the robot wrist (not shown in figure 3).
  • the quick-connection device 34 is of a type which requires the provision on the robot of electric cables 36 and hoses 37 for supplying pressurized air, which are necessary for controlling the operation of the quick-connection device 34.
  • Figure 3A of the annexed drawings also shows a conventional solution of the type of that of figure 3, in which the hemming head 10 is provided with the quick-connection device 34 and therefore requires the provision of cables and hoses for supplying the device 34.
  • the comparison with figure 3B, which shows the head without device 34 makes the disadvantage clear, also in terms of a greater bulk deriving from the large size of device 34.
  • the cables and supply hoses of device 34 must be arranged inside the robot, so that they require the provision of corresponding supports on the robot, which generates further bulk and complications.
  • the provision of cables outside the robot is a possible source of problems due to interference with foreign bodies which may be located at the work fixed station.
  • the invention has the object of finding a solution which overcomes the above indicated drawbacks.
  • FIGS. 4-6 of the annexed drawings show an exemplary embodiment of the hemming head according to the present invention.
  • the parts in common to those of figures 1 , 2 have been designated by the same reference numerals.
  • a main feature of the hemming head according to the present invention is that in this head the hemming rollers 26, 27 are freely rotatably supported by a roller-carrying unit 40 which can be separated as a whole from the lower portion 24 of the hemming head 10.
  • a quick-connection device 50 of any known type, which connects a circular flange 42 provided on the roller-carrying unit 40 to a circular flange 242 secured to the lower end of the outer cylindrical body 240.
  • connection device 50 is provided according to the teachings of document EP 1 810 777 A1 in the name of Pascal Engineering Corporation.
  • the above mentioned document shows this quick-connection device with reference to connection of a piece-carrying pallet to pallet-carrying structures of a pallet conveyor.
  • this device can be advantageously used also in the application illustrated herein.
  • device 50 comprises a first coupling member 51 which is rigidly connected to the roller-carrying unit 40 and a second coupling member 52 constituted by a piston movable inside member 51 .
  • a hydraulic chamber 53 which can be fed with fluid under pressure for moving piston 52 downwardly (with reference to figure 6) against the action of a group of Belleville springs 54.
  • Springs 54 are interposed between an end head 52a connected to piston 52 by a stem 52b, and the body of the coupling member 51 .
  • the Belleville springs 54 normally hold piston 52 in a raised position (with reference to figure 6) in which the ball elements 55 axially hold the coupling member 51 with respect to piston 52.
  • the device comprises also further coupling elements (not shown in figure 6) for locking the two coupling members with respect to relative rotations.
  • a detailed description of the device 50 is anyhow provided in document EP 1 810 777 A1 , which forms part of the state of the art.
  • connection device 50 The supply of fluid under pressure to chamber 53 of connection device 50 is performed at a fixed station for change of the roller-carrying unit, shown by way of example in figure 7 and designated therein by reference S.
  • station S there is provided an engagement member 60 which is to be received within a cooperating seat (not shown in the drawings) of the connection device 50 for providing a hydraulic communication between chamber 53 of the connection device 50 and an outer source of fluid under pressure.
  • connection device illustrated herein is however provided purely by way of non-limiting example, it would be possible to use a similar device in which operation of the piston element 52, which acts as actuating member for release of the device, is obtained for example by supply of air under pressure, or by a mechanical action.
  • the engagement member 60 is a pushing member adapted to be received within the cooperating seat of the connection device and to operate the movable member of the connection device 50 connected in any known way to the release actuating member of the device.
  • Figure 7 of the annexed drawings shows, purely by way of example, the application of the invention to a hemming fixed station provided in a plant for production of motor-vehicle doors, for performing a hemming operation on two sheet-metal panels which form the structure of the door, along the periphery of the door.
  • the door structure D is placed in a horizontal position above a cradle C carried by a basement B.
  • the door structure D is pressed above cradle C by a pressing member P carried at the lower end of a column P1 which is vertically movable.
  • the hemming operation is carried out by means of a hemming head 10 according to the invention.
  • the head is mounted on the wrist 14 of a multi- axis articulated robot R of any known type.
  • the robot comprises a base structure R and a plurality of robot elements mutually articulated to each other, which connect a base structure R1 to the robot wrist 14.
  • the operation of the robot is controlled, in a way known per se, by a controller of any known type programmed for moving the hemming head 10 according to a predetermined path in a predetermined way.
  • a controller of any known type programmed for moving the hemming head 10 according to a predetermined path in a predetermined way.
  • one or the other of the two hemming rollers 26, 27 is used, depending upon the required operation.
  • the robot When it becomes necessary to replace the roller-carrying unit 40, the robot carries the hemming head 10 to the fixed station S, where there is provided a movable magazine M for structures 70 adapted to receive and support roller-carrying units 40.
  • structures 70 are movable along a predetermined path by means of a conveyor 80 of any known type.
  • conveyor 80 has an arrangement in the form of a horizontal carousel (only a portion of which is visible in figure 7) along which structures 70 are movable, in one direction or in the other.
  • Conveyor 80 is then moved for bringing a structure 70 carrying a new roller-carrying unit 40 to station S, so that the new unit can be engaged rapidly by the hemming head 10 and then connected rigidly to the latter by disengagement of the engagement member 60, so as to bring the quick- connection device to the rigid connection condition, due to the action of springs 54.
  • the robot can bring the hemming head back to a piece to be hemmed, for performing a new hemming cycle.
  • the preferred embodiment of the hemming head according to the invention has further advantageous differences with respect to the known hemming head shown in figures 1 , 2, which will be discussed in the following.
  • the present invention includes providing a roller-carrying unit separable, through a connection device, from the lower portion of the hemming head in a hemming head of any known type, including also the head of figures 1 , 2.
  • a first additional difference of the preferred embodiment with respect to the head of figures 1 , 2 lies in that the two springs 30A, 30B are guided by a spring-guiding stem 31 arranged axially through the two springs and through the intermediate supporting element 32.
  • the load applied to the hemming head during the hemming operation is monitored both during an operation according to a "pull” mode and in an operation according to a “push” mode, by means of two respective force sensors (load cells) 33 which are interposed between the ends of springs 30A, 30B which are more remote from each other, and the respective end elements of the inner cylindrical body 200.
  • a spring-guiding stem 31 is connected to a disk 39 (figure 5A) on which the lower end of the lower spring 30B rests, by means of a bayonet coupling, including a transverse pin 35 carried by stem 31 and a shaped slot 37 formed in a cylindrical skirt projecting from disk 39 and engaged by one end of the transverse pin 35.
  • slot 37 is such that the mounting operation is carried out in the conventional manner used for bayonet couplings, i.e. by a first axial movement of disk 39, which causes a compression of lower spring 30B, followed by a rotation of disk 39 and subsequent axial release, under the action of the lower spring 30B, towards a final locked position.
  • the locking of the coupling is therefore ensured by the lower spring 30B itself. Due to this arrangement, the mounting of the unit can be carried out in a simple and quick manner.
  • the load of the two springs 30A, 30B can be adjusted by acting, at each of the two ends of the springs which are more remote from each other, on a screw 220 (figure 5A) which engages an internally threaded bush 230 which is prevented from rotation with respect to the inner cylindrical body 200 by means of a key 250 and which further engages a threaded portion 260 projecting from the body of the respective sensor 33.
  • a rotation of screw 220 modifies the axial position of the threaded bush 230 with respect to the inner cylindrical body 200 of the head.
  • the body of sensor 37 has a threaded portion 260 also on the side facing towards disk 39, which is received within a threaded axial hole of disk 39.
  • 30A, 30B represents a substantial step forward with respect to what has been provided today in systems of the type shown in WO 2012/160512.
  • in order to control the load of a spring it is necessary to measure the length of the spring in an undeformed condition, to measure the actual length of the space in which the spring is mounted, and then to insert a number of shims or washers which ensure the desired compression.
  • the spring is broken before it can be replaced it is necessary to measure a new spring, to check the measure of the length of the mounting space and to provide the required shims for reproducing the same value of load.
  • the above described mounting and adjustment operations can be performed easily in a condition in which the roller-carrying unit 40 is removed from the head.
  • the basic feature of the invention lying in the provision of a separable roller-carrying unit can be adopted in a roller hemming head of any type.

Abstract

L'invention concerne une tête d'ourlage à rouleaux (10) comprenant une partie de tête supérieure (20) ayant une bride (22) pour le raccordement au poignet (14) d'un robot (R) ou à un autre matériel de support mobile. La tête (10) comprend en outre une partie de tête inférieure (24) portant un ou plusieurs rouleaux d'ourlage (26, 27). Les rouleaux d'ourlage sont montés rotatifs librement sur une unité porte-rouleaux (40) qui est reliée à la partie inférieure (24) de la tête avec l'interposition d'un dispositif de raccordement rapide (50) qui relie de manière rigide et amovible l'unité porte-rouleaux (40) à la partie inférieure (24)de la tête. Le dispositif de raccordement rapide (50) comprend un moyen ressort (54) tendant à maintenir le dispositif dans un état de raccordement et un élément d'actionnement (52) conçu pour être déplacé à l'encontre de l'action du moyen ressort (54), pour libérer le raccordement. L'élément d'actionnement (52) est conçu pour être actionné par un élément d'enclenchement (60) disposé au niveau d'une station fixe (S) adjacente au robot (R) ou adjacente à un matériel mobile supportant la tête. L'élément d'enclenchement est conçu pour être logé à l'intérieur d'un siège de coopération de la tête. Par conséquent, le dispositif de raccordement rapide de la tête d'ourlage permet le remplacement rapide de la totalité de la structure de l'unité porte-rouleaux (40) et ne nécessite pas la disposition sur le robot (R) ou le matériel mobile supportant la tête de câbles et/ou de tuyaux d'alimentation souples pour la commande du dispositif de raccordement rapide (50).
PCT/IB2015/051231 2014-02-19 2015-02-18 Tête d'ourlage à rouleaux comprenant une unité porte-rouleaux WO2015125084A1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020167022091A KR20160120728A (ko) 2014-02-19 2015-02-18 교체가능한 롤러-탑재 유닛을 갖는 롤러 헤밍 헤드
CN201580009602.6A CN106255559A (zh) 2014-02-19 2015-02-18 具有可替换辊子承载单元的辊子卷边头部
EP15711849.8A EP3107668A1 (fr) 2014-02-19 2015-02-18 Tête d'ourlage à rouleaux comprenant une unité porte-rouleaux
US15/119,413 US20170056953A1 (en) 2014-02-19 2015-02-18 Roller Hemming Head Having a Replaceable Roller-Carrying Unit
MX2016010297A MX2016010297A (es) 2014-02-19 2015-02-18 Cabeza de ribeteadora de rodillo con unidad portadora de rodillo sustituible.
CA2937211A CA2937211A1 (fr) 2014-02-19 2015-02-18 Tete d'ourlage a rouleaux comprenant une unite porte-rouleaux

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITTO2014A000136 2014-02-19
ITTO20140136 2014-02-19

Publications (1)

Publication Number Publication Date
WO2015125084A1 true WO2015125084A1 (fr) 2015-08-27

Family

ID=50693891

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2015/051231 WO2015125084A1 (fr) 2014-02-19 2015-02-18 Tête d'ourlage à rouleaux comprenant une unité porte-rouleaux

Country Status (7)

Country Link
US (1) US20170056953A1 (fr)
EP (1) EP3107668A1 (fr)
KR (1) KR20160120728A (fr)
CN (1) CN106255559A (fr)
CA (1) CA2937211A1 (fr)
MX (1) MX2016010297A (fr)
WO (1) WO2015125084A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064189A (zh) * 2016-07-22 2016-11-02 上海翼锐汽车科技有限公司 一种新型汽车门盖滚边头机构
EP3338949A1 (fr) * 2016-12-20 2018-06-27 United Technologies Corporation Outil et procédé de laminage profond

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180171447A1 (en) * 2016-12-20 2018-06-21 United Technologies Corporation Deep rolling tool and method
US20180171448A1 (en) * 2016-12-20 2018-06-21 United Technologies Corporation Deep rolling tool and method
WO2019114893A1 (fr) * 2017-12-14 2019-06-20 Onrobot A/S Dispositif de préhension
KR101941018B1 (ko) * 2018-09-27 2019-04-12 (주)코어텍 양방향 가압력 감지가 가능한 헤밍 롤러 장치 및 그 제어 방법
CN114733943B (zh) * 2022-06-13 2022-09-13 冰轮环境技术股份有限公司 一种机器人折边装置及折边系统

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1810777A1 (fr) 2004-10-29 2007-07-25 Pascal Engineering Corporation Coupleur pour corps de support et corps mobile
WO2010085110A2 (fr) * 2009-01-23 2010-07-29 Choi Hak Cheol Unité de bordage à molette pour bordeuse à molette
EP2239089A1 (fr) * 2008-01-28 2010-10-13 Pascal Engineering Corporation Dispositif de positionnement et de fixation pour une palette de travail
DE202009005111U1 (de) * 2009-08-05 2010-12-30 Kuka Systems Gmbh Falzeinrichtung
WO2012160512A1 (fr) 2011-05-24 2012-11-29 Comau S.P.A. Ensemble tête d'ourlage et procédé correspondant

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5318496A (en) * 1993-04-19 1994-06-07 Amada Engineering And Service Co., Inc. Method and apparatus for automatically exchanging a punch for a turret punch press
CN1161267A (zh) * 1995-09-14 1997-10-08 邵文远 复合加工中心
US7152447B2 (en) * 2004-03-30 2006-12-26 Tesco Engineering, Inc. Roller type hemming apparatus
CN201376050Y (zh) * 2009-04-02 2010-01-06 长春大正博凯汽车设备有限公司 汽车焊接生产线用气控机械式滚头
JP5403378B2 (ja) * 2011-09-08 2014-01-29 株式会社安川電機 ロボットハンド及びロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1810777A1 (fr) 2004-10-29 2007-07-25 Pascal Engineering Corporation Coupleur pour corps de support et corps mobile
EP2239089A1 (fr) * 2008-01-28 2010-10-13 Pascal Engineering Corporation Dispositif de positionnement et de fixation pour une palette de travail
WO2010085110A2 (fr) * 2009-01-23 2010-07-29 Choi Hak Cheol Unité de bordage à molette pour bordeuse à molette
DE202009005111U1 (de) * 2009-08-05 2010-12-30 Kuka Systems Gmbh Falzeinrichtung
WO2012160512A1 (fr) 2011-05-24 2012-11-29 Comau S.P.A. Ensemble tête d'ourlage et procédé correspondant

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106064189A (zh) * 2016-07-22 2016-11-02 上海翼锐汽车科技有限公司 一种新型汽车门盖滚边头机构
EP3338949A1 (fr) * 2016-12-20 2018-06-27 United Technologies Corporation Outil et procédé de laminage profond
US10786883B2 (en) 2016-12-20 2020-09-29 United Technologies Corporation Deep rolling tool and method

Also Published As

Publication number Publication date
CN106255559A (zh) 2016-12-21
MX2016010297A (es) 2016-10-28
US20170056953A1 (en) 2017-03-02
EP3107668A1 (fr) 2016-12-28
KR20160120728A (ko) 2016-10-18
CA2937211A1 (fr) 2015-08-27

Similar Documents

Publication Publication Date Title
US20170056953A1 (en) Roller Hemming Head Having a Replaceable Roller-Carrying Unit
US9517502B2 (en) Tool head, with wireless monitoring system, for performing industrial operations
EP2750965B1 (fr) Appareil et procédé de verrouillage d'ensemble caisse de véhicule
US9700927B2 (en) Apparatus for transferring workpieces
US20120301262A1 (en) Method and device for feeding fasteners
DE112011104400T5 (de) Reifentestvorrichtung
US20150145178A1 (en) Blow moulding machine with blow mould changing robot with additional treatment function
JP7026618B2 (ja) 工作機械上で被加工物をロックする装置
CN103419208A (zh) 多部件工具
US20120216591A1 (en) Crimping Apparatus
JP2010082753A (ja) ワーク圧入装置
EP3081316B1 (fr) Machine de dressage de profilés
CN111936249B (zh) 生产系统、生产模块、操作和配置生产线的方法以及制造工件的方法
CN105127291A (zh) 具备安全防护功能的高精度冲压模具组件
JP2013539416A (ja) 機械部品用、特に機械加工などが施される部品用のロック装置
JPH04212801A (ja) 木製板等に穴を形成する方法および装置
CN100368103C (zh) 可被拆分成可互换的模式组件的轧机机座
US7954355B2 (en) Device for automatically adjusting control cams in a forging machine
CN104384921A (zh) 一种适用于弹力较大的压缩弹簧组件的装配设备及其装配方法
US6910362B2 (en) Tilt mechanism for a transfer rail in a press transfer system
CN211590100U (zh) 一种带夹爪的自动装配机器人装置
CN104220180A (zh) 用于将运动传递至辊的传动轴
ITMS980008A1 (it) Pressa multifunzione configurabile a sicurezza intrinseca con carrello mobile a stativo orientabile e leva multifulcrabile
JPWO2019198253A1 (ja) タイヤ加硫機及びタイヤ加硫方法
EP3887262B1 (fr) Module d'accueil, machine à étiqueter et procédé d'accueil

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15711849

Country of ref document: EP

Kind code of ref document: A1

REEP Request for entry into the european phase

Ref document number: 2015711849

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2015711849

Country of ref document: EP

ENP Entry into the national phase

Ref document number: 2937211

Country of ref document: CA

REG Reference to national code

Ref country code: BR

Ref legal event code: B01A

Ref document number: 112016017733

Country of ref document: BR

WWE Wipo information: entry into national phase

Ref document number: MX/A/2016/010297

Country of ref document: MX

ENP Entry into the national phase

Ref document number: 20167022091

Country of ref document: KR

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 15119413

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 112016017733

Country of ref document: BR

Kind code of ref document: A2

Effective date: 20160729