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
• • 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
• • 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

Definitions

• the present invention relates to a device for assembling parts by folding and a method of crimping.
• the assembly device of the invention is shaped to work according to the principle of crimping and more particularly in a pre-crimping step followed by a crimping step.
• Crimping is an assembly process involving subjecting the one or more elements with which to crimp an object, to an external force greater than the elastic limit of the material of the crimping element (s).
• crimping is used, for example, for assembling two or more sheets with each other by folding the edge of a first panel on the edge or edges of the other panel or panels.
• this work is usually done by manufacturing robots, while it is done by presses for large quantities of parts.
• a manufacturing robot which is usually a multi-axis automaton, it is necessary to program the movement of the arm of the robot carrying the crimping tool, often a roller or a wheel, that is to say say you have to teach a predetermined travel path to the robot arm.
• the position of the roller at each moment - and therefore the path of the roller as a result of the positions of the roller at different times - may be distorted compared to path programmed by the own elasticity of the robot arm and also by an irregular behavior of the material of the parts to be crimped.
• EP-A-0 577 876 discloses a roller type crimping apparatus in which the crimping roller is movably supported by means of an elastic member, preferably a compression coil spring. This elastic means makes it possible to absorb any difference between the programmed theoretical path and the actual path made by the roller.
• the object of the invention is to provide a robotic arm head arrangement that allows more actively to overcome the disadvantages mentioned above.
• the proposal must relate to simple means, because the more active elements are added to compensate for variations in the position of the tool, even if these active means have a servo-controlling role, the greater the probability of a technical failure and, at the same time, more new variables are introduced rather than reduced.
• the object of the invention is achieved with an assembly device of parts by folding an edge of a first panel on an edge of at least a second panel, the device comprising an arm carrying a tool for exerting a force on the edge of the first panel to be able to bend the edge of the first panel towards the edge (s) of the other panel (s) and to then be able to apply the edge of the first panel to the edge (s) of the other panel (s), the arm being mounted axially movable relative to a body of the device and under constraint exerted by an elastic means.
• the elastic means is mounted between two movable flanges each of which is arranged to be movable from a respective rest position, and the arm is shaped to move with it, in the direction of its axial displacement, one or the other of the two mobile flanges so as to bring the two flanges to one another.
• the assembly device of the invention is designed so as to allow a variation of Z position of the crimping head, including the tool for exerting a force on the folded edge A.
• the variation of position in Z is of the order of +1 and -1 millimeter.
• the force applied to the tool of the assembly device is obtained by the robot which varies the force by crushing or stretching more or less the assembly device.
• the assembly device of the invention allows a Z-position variation of ⁇ 20 millimeters of which ⁇ 1 millimeter for the trajectory deviation of the robot and therefore the tool and ⁇ 19 millimeters for the compression force of the spring incorporated in the assembly device of the invention.
• the device of the invention is also designed so as to form a crimping head mounted on a free end of a robot arm.
• the present invention is explained hereinafter with the aid of the example of rolling crimping. It goes without saying that crimps by tools producing a comparable effect are also included in the principle of the present invention.
• Such another tool is, for example, a baffle knife acting in applications where the friction between the tool and the material to be bent allows it, if appropriate associated with cooling and / or lubrication.
• the present invention also relates to the following features, considered individually or in any technically possible combination:
• the arm is mounted axially movable inside an inner sleeve and an outer sleeve surrounding the inner sleeve and forming with it the body of the device, the inner sleeve and the outer sleeve each having an annular stop on which takes respectively support one or other of the two mobile flanges when the arm is in a rest position;
• the elastic means is a helical spring and the two mobile flanges are annular flanges, the spring and the flanges being arranged coaxially around the arm;
• the arm comprises two annular shoulders intended to receive respectively bearing one or the other of the two mobile flanges when the arm is in the rest position;
• the arm is disposed inside the body of the device and shaped, as to the shoulders, to move with it during an axial displacement that of the two mobile flanges which is in the rear position relative to the direction of movement of the arm, that simultaneously that of the two mobile flanges which is then in the forward position remains in abutment with that of the two annular stops of the two inner and outer sleeves which is then in the forward position relative to the direction of movement of the arm;
• the tool is a wheel.
• the assembly device of the invention is therefore designed to adjust a folding force at the beginning of the application of the tool, for example a force between 20 and 300 daN, depending on the stroke of the head of the tool. 'assembly.
• a folding force at the beginning of the application of the tool, for example a force between 20 and 300 daN, depending on the stroke of the head of the tool. 'assembly.
• the force applied to the tool when it is pushed, is obtained by the movement of the arm carrying the tool, inwards and by the compression of the spring on a stop inside the assembly device.
• the force is obtained by the displacement of the arm supporting the tool, towards the outside of the device, which causes a compression of the spring towards the outer stop of the device.
• the object of the invention is also achieved with a crimping method for assembling parts by folding an edge of a first panel on an edge of at least a second panel, by means of a device comprising a support arm a tool for exerting a force on the edge of the first panel to be able to fold the edge of the first panel towards the edge (s) of the other panel (s) and to then be able to apply the edge of the first panel to the edge (s) of the other panels, the arm being mounted axially movable relative to a body of the device and under stress exerted by an elastic means.
• the method comprises at least the following steps:
• the robot When using the device of the invention, it is first carried out a pre-crimping and then crimping.
• the robot is approached a first time and positions the tool in contact with the bearing surface of the matrix on which the material to be crimped is placed.
• the sheet of a first panel is pre-folded on the edge or edges of the other panel or crimp.
• the pre-crimping force is provided by the robot which compresses the spring of the head, that is to say the assembly device, according to a programmed stroke.
• the robot moves the tool around the workpiece along a programmed path. Over the entire trajectory, the pre-stressing effort is maintained by the spring.
• This effort is programmed and may vary depending on the pre-crimping conditions, for example depending on the height of the edge, the radius, the material of the sheet, the thickness of the sheet, etc.
• the robot is approached a second time and positions the arm of the robot and, thus, the tool on the sheet crimping. Then, the sheet is crimped by means of the tool following the same principle and with the same crimping force as for the pre-crimping.
• the force may vary depending on crimping conditions. Pre-crimping and crimping can be done by pushing or pulling.
• a displacement sensor integrated in the head allows the robot to loop the trajectory to have a constant effort to the roller.
• the configuration of the parts to be crimped (small radius, angles, etc.) and the nature of the crimping sheets can lead to the use of different tools, for example different knobs. They are stored in a storage warehouse where the robot is on a station to change the type of wheel.
• the device of the invention has a number advantages, among which we can mention that the head, it works by pulling or pushing, compresses in both cases the same spring. Efforts go through the axis of the head, the guide is in the axis of the head, it is ensured by an axis that slides in two bronze rings, the whole is locked in rotation by a remote slide.
• the cost of the head is divided by three. This makes the device particularly interesting for small series; they are today treated as big compared to the original solution.
• a particularly interesting application of the device of the invention is the crimping of parts of openings such as hoods, shutters, doors ..., where the cycle times are greater than 50 seconds.
• FIG. 1 shows an assembly device according to a preferred embodiment of the invention, in a perspective view
• FIG. 2 shows the device of FIG. 1 in axial section
• FIGS. 3A and 3B show schematically the pre-crimping and crimping steps of sheet metal by pulling a wheel
• Figures 4A and 4B show schematically a crimping sheet with a thrust applied wheel.
• Figure 1 shows a simplified perspective view of an assembly device of the invention. This device is intended to assemble parts by folding, for example, as shown in FIGS. 3A, 3B, 4A and 4B, from an edge B1 of a first panel P1 to a steel sheet, on a B2 edge. a second panel P2 in another steel sheet, the folding being carried out with a wheel 1.
• the device comprises for this purpose means 1, 2 shaped to fold the edge Bl of the first panel Pl to the edge B2 of the another P2 panel and to be able to then apply the edge B1 on the edge B2.
• the various elements of the internal mechanism of the assembly device are joined in an outer sleeve 4 having a flange 11 on which are stacked the edges of other elements necessary for mounting the device on the robot.
• the assembly device more particularly comprises, in addition to the roller or the wheel 1, an arm 2 carrying the tool intended to exert a force on the edge B1 of the first panel P1 to fold it and then to apply it to the second P2 panel.
• the device also comprises a compression spring 5 ensuring the support of the tool 1 on the edge Bl of the first panel P1, and this as well by pulling that pushing the tool 1.
• the arm 2 is mounted axially movable inside an inner sleeve 3 and an outer sleeve 4 surrounding the inner sleeve 3.
• the inner sleeve 3 and the outer sleeve 4 together form the body of the device and each have a stop annular 6, 7 on which the spring 5 bears respectively by one or the other of its two ends 5A, 5B when the arm 2 is in a position of rest or reference.
• the spring 5 is disposed between two annular flanges 8, 9, a first flange 8 is shaped to bear on the stop 6 of the inner sleeve 3, when the arm 2 is moved towards the inside of the body of the device, and the second flange 9 is shaped to bear on the stop 7 of the outer sleeve 4, when the arm 2 is moved outwardly of the body of the device.
• the arm 2 comprises a first annular shoulder 21 on which the second flange 9 of the spring 5 bears when the arm 2 is moved inwardly of the body of the device.
• the arm 2 also comprises a second annular shoulder 22 on which the first flange 8 of the spring 5 bears when the arm 2 is moved outwardly of the body of the device.
• the arm 2 is provided with shoulders 21, 22 and disposed inside the body of the device so as to be able to move with it, during an axial displacement, that of the two movable flanges 8, 9 which is in the rear position relative to the direction of movement of the arm 2.
• that of the two movable flanges 8, 9 which is then in the forward position remains resting on that of the two annular abutments 6, 7 of the two inner sleeves 3 and outer 4 which is then in the forward position relative to the direction of movement of the arm 2. This results in a compression of the spring 5 regardless of the direction the movement of the arm.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Automatic Assembly (AREA)
• Piezo-Electric Or Mechanical Vibrators, Or Delay Or Filter Circuits (AREA)
• Clamps And Clips (AREA)
• Resistance Welding (AREA)
• Bending Of Plates, Rods, And Pipes (AREA)
• Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Applications Claiming Priority (2)

Publications (2)

Family

ID=37037083

Family Applications (1)

Country Status (9)

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• 2006
  • 2006-01-05 FR FR0650044A patent/FR2895690B1/fr not_active Expired - Fee Related
  • 2006-12-18 EP EP06847166A patent/EP1968758B1/de active Active
  • 2006-12-18 DE DE602006006349T patent/DE602006006349D1/de active Active
  • 2006-12-18 ES ES06847166T patent/ES2324960T3/es active Active
  • 2006-12-18 CN CN2006800504153A patent/CN101356026B/zh not_active Expired - Fee Related
  • 2006-12-18 PT PT06847166T patent/PT1968758E/pt unknown
  • 2006-12-18 AT AT06847166T patent/ATE428519T1/de not_active IP Right Cessation
  • 2006-12-18 BR BRPI0621099-6A patent/BRPI0621099B1/pt not_active IP Right Cessation
  • 2006-12-18 WO PCT/FR2006/051376 patent/WO2007077377A2/fr not_active Ceased

Non-Patent Citations (1)

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