Apparatus and method for robotic roller hamming
AssigneeFerrobotics Complaint Robot Technology GmbH
InventorsRonald Naderer, Paolo Ferrara
Life of this patent
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Abstract
A roller hemming apparatus for robot-supported roller hemming with a manipulator, as well as with a roller hemming apparatus, is described. The apparatus includes a frame, a first roller and a second roller which, when in operation, contact two opposite sides of a workpiece, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and controlled so that opposing process forces that are applied over the first and the second rollers and that lie approximately along one effective line of force are applied to the workpiece at opposite sides.
Claims15
An apparatus for robotic roller hemming with a manipulator, and with a roller hemming apparatus that comprises:
- a frame;
- a first roller and a second roller, which, when in operation, contact opposite sides of a workpiece and are mounted movably relative to the frame;
- at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers and is controlled so that, over the first and the second rollers, opposing process forces lying approximately along one effective line of force are applied to the opposite sides of the workpiece,
- wherein the first and the second rollers are movable along the effective line of force by the at least one first actuator,
- wherein the first and the second rollers are mounted onto the frame so as to allow compensation of an incorrect positioning of the roller hemming apparatus relative to the workpiece by moving the first and the second rollers relative to the frame.
A method of operating an apparatus for robot-controlled roller hemming of a workpiece with the aid of a roller hemming apparatus that comprises a frame, a first roller and a second roller which, when in operation, contact two opposite sides of the workpiece and which are mounted movably relative to the frame, and at least one first actuator mechanically coupled to the frame and to at least one of the first and the second rollers, the method comprising:
- moving the workpiece or the roller hemming apparatus along a desired contour with the aid of a manipulator;
- and
- controlling the at least one first actuator so that opposing process forces that are applied primarily perpendicular to a feed direction of the roller hemming apparatus and lie approximately along one effective line of force are applied to opposite sides of the workpiece,
- moving the first and the second rollers along the effective line of force using the at least one first actuator,
- wherein the first and the second rollers are mounted onto the frame so as to allow compensation of an incorrect positioning of the roller hemming apparatus relative to the workpiece by moving the first and the second rollers relative to the frame.
Dependencies are inferred from the claim text.