Roller type hemming apparatus
AssigneeTriengineering Co., Ltd.
InventorMasazumi Sawa
Life of this patent
Estimating the term…
Abstract
A roller type hemming apparatus for hemming a workpiece having a peripheral bent portion includes a hem roller rotated under pressure along the bent portion of the workpiece, a hem roller support adapted for displaceably supporting the hem roller, and a robot hand adapted for shifting the hem roller through the hem roller support while pressing the hem roller on the bent portion of the workpiece.
Claims4
A roller type hemming apparatus for hemming a workpiece having a peripheral bent portion, adapted for operable connection to a multi-axis robot hand, comprising:
- a hem roller support, comprising a support bracket mounted to said robot hand, said support bracket having a hole extending therethrough along a first axis;
- a slide block slidably movable along said first axis and supported within said support bracket, said slide block having a support lug on a lower end thereof aligned along a second axis;
- a spring positioned between said slide block and said support bracket for urging said slide block along said first axis;
- a stopper bolt secured to said slide block and passing through said spring and said hole, and having a head projecting outwardly from said hole, said stopper bolt limiting the slidable travel of said slide block along said first axis;
- and a spacer plate positioned between the head of the stopper bolt and the support bracket;
- and
- a hem roller rotatably mounted to said support lug.
A roller type hemming apparatus adapted for operable connection to a multi-axis robot hand, for hemming a workpiece having a peripheral bent portion, comprising:
- a support bracket mounted to said robot hand, said support bracket having a cylindrical hole extending therethrough along a first axis;
- a slide block slidably supported along said first axis within said support bracket, said slide block having a support lug on a lower end thereof;
- single-acting hydraulic cylinder means provided between said slide block and said support bracket for shifting said slide block along said first axis;
- a stopper bolt secured to the upper end of said slide block, said stopper bolt extending through said cylindrical hole and having a head extending outwardly from said support bracket;
- a spacer plate positioned between the head of said stopper bolt and said support bracket;
- and a hem roller rotatably mounted to said support lug.
A roller type hemming apparatus adapted for operable connection to a multi-axis robot hand, for hemming a workpiece having a peripheral bent portion, comprising:
- a support bracket mounted on the forward end of said robot hand;
- a slide block slidably supported within said support bracket, said slide block having a support lug on the lower end thereof;
- a double-acting hydraulic cylinder means provided in said support bracket for slidably moving said slide block, said hydraulic cylinder means including a piston shaft;
- a linear encoder for detecting the position of said slide block by detecting the stroke amount of said piston shaft of said hydraulic cylinder means;
- control means for controlling the operation of said hydraulic cylinder means based on the position of said slide block detected by said linear encoder;
- and
- a hem roller rotatably connected to said support lug.
A roller type hemming apparatus adapted for operable connection to a multi-axis robot hand, for hemming a workpiece having a peripheral bent portion, comprising:
- a support bracket mounted on the end of said robot hand;
- a servo motor mounted on said support bracket and having an output shaft;
- a ball screw mounted on the output shaft of said servo motor and having a threaded shaft and a nut;
- a slide block operatively connected to said nut of said ball screw for sliding movement in a predetermined range and supported within said support bracket for sliding movement by operation of said servo motor, said slide block having a support lug on the lower end thereof;
- a load cell positioned between said slide block and said nut of said ball screw for measuring load applied to said nut;
- a rotary encoder for detecting the position of said slide block by detecting the number of revolutions of said servo motor;
- control means for controlling the operation of said servo motor based on the position of said slide block detected by said rotary encoder and the load applied to said nut and measured by said load cell;
- and
- a hem roller rotatably mounted to said support lug.
Dependencies are inferred from the claim text.