U.S. patent application number 10/853343 was filed with the patent office on 2005-12-01 for robotic roller hemming alignment apparatus and method.
This patent application is currently assigned to Tesco Engineering, Inc.. Invention is credited to Toeniskoetter, James B..
Application Number | 20050262912 10/853343 |
Document ID | / |
Family ID | 35423707 |
Filed Date | 2005-12-01 |
United States Patent
Application |
20050262912 |
Kind Code |
A1 |
Toeniskoetter, James B. |
December 1, 2005 |
Robotic roller hemming alignment apparatus and method
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.
Inventors: |
Toeniskoetter, James B.;
(Rochester Hills, MI) |
Correspondence
Address: |
Christopher J. Fildes
Fildes & Outland, P.C.
Suite 2
20916 Mack Avenue
Grosse Pointe Woods
MI
48236
US
|
Assignee: |
Tesco Engineering, Inc.
|
Family ID: |
35423707 |
Appl. No.: |
10/853343 |
Filed: |
May 25, 2004 |
Current U.S.
Class: |
72/220 |
Current CPC
Class: |
B21D 39/023
20130101 |
Class at
Publication: |
072/220 |
International
Class: |
B21D 039/02 |
Claims
What is claimed is:
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.
Description
TECHNICAL FIELD
[0001] 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
[0002] 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
[0003] 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.
[0004] 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.
[0005] 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.
[0006] 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
[0007] In the drawings:
[0008] FIG. 1 is a side view of a prior art roller hemming
apparatus performing a hemming operation;
[0009] FIG. 2 is a side view of a robotic roller hemming apparatus
in accordance with the present invention performing a hemming
operation;
[0010] FIG. 3 is a side view of a hemming roller of the robotic
roller hemming apparatus of FIG. 2;
[0011] FIG. 4 is a side view of an alternative embodiment of a
robotic roller hemming apparatus in accordance with the present
invention; and
[0012] 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
[0013] 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.
[0014] 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.
[0015] 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.
[0016] 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.
[0017] 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.
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