CN106255559A - There is the roller crimping head of replaceable roller load bearing unit - Google Patents
There is the roller crimping head of replaceable roller load bearing unit Download PDFInfo
- Publication number
- CN106255559A CN106255559A CN201580009602.6A CN201580009602A CN106255559A CN 106255559 A CN106255559 A CN 106255559A CN 201580009602 A CN201580009602 A CN 201580009602A CN 106255559 A CN106255559 A CN 106255559A
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- China
- Prior art keywords
- head
- roller
- crimping
- spring
- load bearing
- Prior art date
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Roller crimping head (10) includes higher head portion (20), this higher head portion (10) has flange (22), for the wrist (14) or other support movable equipments that are connected to robot (R).Head (10) also includes the relatively low head portion (24) carrying one or more crimping roller (26,27).This crimping roller is rotatably arranged on roller load bearing unit (40), roller load bearing unit (40) is connected to the relatively lower part (24) of head by the intervention of Quick Connect Kit (50), and this Quick Connect Kit (50) is connected to head relatively lower part (24) rigidly and removedly by roller load bearing unit (40).Quick Connect Kit (50) includes spring means (54) and actuation component (52), spring means (54) trends towards being maintained under condition of contact this device, actuation component (52) is suitable to revolt the effect of spring means (54) and move, and connects for release.Actuation component (52) is suitable to be operated by joint elements (60), joint elements (60) are located at fixed station (S) place, the neighbouring robot (R) of this fixed station (S) or the movable equipment of neighbouring supporting head part.These joint elements are suitable to be received in the cooperation bearing of head.Therefore, the Quick Connect Kit of crimping head allows the quick replacement of the total of roller load bearing unit (40), and need not provide cable and/or the supply hose being used for controlling Quick Connect Kit (50) in robot (R) or the movable equipment of supporting head part.
Description
Technical field
The present invention relates to include the roller crimping head (roller hemming head) of the type with lower part:
-higher head portion, has flange, and this flange is used for being connected to robot wrist or other removable support equipment, and
-relatively low head portion, carries at least one crimping roller.
Background technology
The roller crimping head of type indicated above is disclosed in the WO 2012/160512 of such as same Applicant.
In this known solution, head has relatively lower part, and this relatively lower part includes outer cylindrical main body, and this outer cylindrical main body can
Being slidably mounted in cylindrical main body, this cylindrical main body forms a part for higher head portion.Relatively low head portion is straight
Connecing and rotatably support a pair crimping roller, this is prominent from the opposition side of head to crimping roller and is suitable to grasp at crimping
Optionally used during work.Crimping roller has the public affairs that the common axis of two outer and inner columnar body with head is orthogonal
Coaxial line.
Example embodiment shown in documents cited above WO 2012/160512 allows crimping head according to " pushing away "
Pattern is (that is, by utilizing its relatively downside (reference head vertically-oriented) to push away in two crimping rollers against the part treating crimping
One) and (that is, draw effect by head experience, in order to make the upper side of in crimping roller (also according to " drawing " pattern
Reference head vertically-oriented) engage relative to the part treating crimping) the two operates.
Known crimping head includes higher helical spring and relatively low helical spring, this higher spiral spring and relatively low spiral shell
Rotation layout of spring becomes the common axis alignment of the outer and inner columnar body along head.
The end away from each other of higher and relatively low spring is supported relative to the end member of cylindrical main body, and two
The ends rest closer to each other of individual spring is on the opposing face of intermediate support member, and this intermediate support member is rigidly attached
In outer cylindrical main body.In this way, during the operation according to " pushing away " pattern, taller springs opposing trends towards compressing head
Power, and in " drawing " pattern, the opposing of relatively low spring puts on the pulling force of head.
In known solution mentioned above, also provide for quick release device, for make single crimping roller with
Head relatively lower part disconnects and coupling.The release of roller, this operation can be triggered by being placed in any functional unit outside head
The releasing parts that parts are arranged relative to neighbouring each crimping roller engages.
It is known that solution has such as Rolldown hem head, it is quick that this crimping head is included at their higher end
Attachment means, by this Quick Connect Kit, can replace the whole crimping head carried by robot rapidly.But, only
In the situation that needs are replaced by crimping roller, these solutions are the most complicated and expensive.And, in this case
Use Quick Connect Kit need provide there is cable and for supplying the robot of the flexible pipe of fluid under stress, this for
It is necessary for controlling the operation of Quick Connect Kit.In addition to their intrinsic cost, these cables and flexible pipe have
The shortcoming experiencing continuous deformation during the operation lifetime of robot, so that they must be periodically due to their abrasion
Replace, thus cause by safeguarding the extra cost and cap loss stopping causing.In the situation of crimping head, cable and soft
The abrasion of pipe is especially severe, because this head is frequently used for performing flange crimping operation along the whole peripheral of component, it means that
The torsional deflection that head self rotating 360 degrees, this cable therefore making Quick Connect Kit and supply hose experience are the most serious.
Summary of the invention
Goal of the invention
The main object of the present invention is to provide a kind of roller crimping head, and it enables crimping roller to be replaced and still has simple
And cheap structure, this need not provide extra cable and/or supply hose in the robot of carrying crimping head.
Another object is to provide a kind of crimping head, and it realizes above-mentioned target by new and favourable head framework, with
Time be not related to dramatically increasing of the cost relative to regular volume end portion.
Another preferred purpose is to provide a kind of crimping head, and it is relative to known solution the most more effectively and relatively
Uncomplicated.
Abstract of invention
In order to realize these purposes, the present invention provides a kind of roller crimping head, comprising:
-higher head portion, has flange, and this flange is used for being connected to robot wrist or other removable support equipment, and
-relatively low head portion, it carries one or more crimping roller,
It is characterized in that, described head also includes:
-roller load bearing unit, its carrying crimping roller and be suitable to overall be partially separated from described head is relatively low, and
-Quick Connect Kit, it is connected to head relatively lower part rigidly and removedly by described roller load bearing unit,
-described Quick Connect Kit includes:
-spring means, it trends towards being maintained under condition of contact described device,
-actuation component, it can be revolted the effect of described spring means and move and connect for release, and be suitable to by engaging
Operation of components, described joint elements are located at fixed station, and described fixed station is adjacent to described robot or adjacent to supporting this head
Other movable equipments described, and described joint elements are suitable to be received in the cooperation bearing (cooperating seat) of head
In,
-in this way, described Quick Connect Kit need not support removable setting in described robot or at described other
Standby upper offer cable and/or supply hose.
Therefore, in the present invention, the crimping roller of head is all carried by single roller load bearing unit, and this single roller holds
Carrier unit can overall separate from relatively low head portion, and is therefore replaced rapidly.This is demonstrated by relative to from WO 2012/
Solution known to 0160512 and the significant differences also relative to conventional solution, known from WO2012/0160512
Solution in, it is provided that quick-replaceable probability of each single roller, in conventional solution, due to use between volume
Quick Connect Kit between end portion and robot wrist and the quick-replaceable of whole crimping head is provided.
Additionally, in the crimping head according to the present invention, the quick-replaceable device for roller load bearing unit need not
Thering is provided cable and/or extra supply hose in robot, this simplifies robot architecture and reduces its cost.In robot
The elimination of cable and flexible pipe is that two aspects are favourable, holds because these cables and flexible pipe experience during the operation lifetime of robot
Continuous deformation, result they must be existed by safeguarding the extra cost and cap loss stopping causing by periodic replacement.
The present invention also provides for crimping fixed station, including robot or other support movable equipment and have indicated above
The crimping head of feature, this crimping head is carried by described robot or other removable support equipment described.
According to further feature, also including fixed station according to the crimping head of the present invention, described fixed station is adjacent to described machine
People or the neighbouring described movable equipment supporting this head, described fixed station includes joint elements, and described joint elements are described
The association of head can be engaged with when robot or described removable support equipment are by the position of head band to neighbouring described fixed station
Make in bearing, in order to trigger actuation component, for the company between relatively lower part and the roller load bearing unit of release crimping head
Connect.
Preferably, at described fixed station, also provide for the removable storage bed (movable for roller load bearing unit
Magazine), this removable storage bed includes the multiple structures for receiving roller load bearing unit, and the plurality of structure can be along opening
Or the path closed moves, in order to can be to be used for receiving roller carrying single when roller load bearing unit disconnects from crimping head and to couple
The position of unit provides empty reception structure, and therefore the reception structure occupied by new roller load bearing unit can be taken to described
Position couples with crimping head for the roller load bearing unit that this is new.
In the crimping head according to the present invention, can manufacture according to any routine techniques and roller load bearing unit is connected to
Head is compared with the Quick Connect Kit of lower part.
But, in an exemplary embodiment, according to being transferred to Pascal Engineering Corporation's
The teaching of document EP 1 810 777 A1 manufactures this device.The disclosedest Quick Connect Kit is for by part
The saddle that carrying saddle (pallet) is connected to along saddle conveyer device provides carries in structure.Applicant has found, however, that
This attachment means can also be advantageously used in the purpose of the present invention.
In the situation of this known devices, caused the actuation component of Connection Release by hydraulic component operation.Therefore, at this
In the situation of invention, using this known devices, the joint elements above-mentioned provided at fixed station are suitable to be located at connection
Hydraulic communication is set up between hydraulic pressure chamber and pressurized hydraulic fluid source in device.However, it is possible to (such as borrow in any other manner
Help forced air or also by mechanical devices) realize the operation of actuation component for discharging connection.The feelings in face thereafter
In shape, the joint elements being received in the cooperation bearing on crimping head such as include push part, and this push part engages and is located at
Corresponding actuation component in head bearing, in order to cause the release of connection.No matter use which solution, work as joint elements
When corresponding bearing from head is retracted, the spring means being located in attachment means all automatically results in this device and returns to new roller
Rigidly connected condition between sub-load bearing unit and the relatively lower part of crimping head.
And, according to the head of the present invention, preferably there is the more features pointed out in appended appended claims.
Accompanying drawing explanation
Describing the present invention referring now to accompanying drawing, accompanying drawing is entirely and is given as non-limiting example, in the accompanying drawings:
Fig. 1 is to be carried on the terminal part of multi-axis industrial robot, lateral general according to the crimping head of prior art
Scheme,
Fig. 2 is the view in cross section and under magnification ratio of the crimping head of Fig. 1,
Fig. 3 is the perspective view illustrating another known solution, wherein, it is provided that a kind of device is for the volume carried by robot
The quick replacement in end portion,
Fig. 3 A, 3B be the crimping head that illustrates and there is the more changing device of the conventional head shown in Fig. 3 be not provided with this device
The summary lateral view that head compares,
Fig. 4 is the perspective view of an embodiment of the crimping head according to the present invention,
Fig. 5 is the perspective cross-sectional slice of the crimping head of Fig. 4,
Fig. 5 A illustrates the details of the Fig. 5 under magnification ratio,
Fig. 6 may be used in the crimping head of the present invention, the synoptic diagram in the cross section of Quick Connect Kit known per se, and
Fig. 7 illustrates the example embodiment of the crimping fixed station according to the present invention.
Detailed description of the invention
Current techniques
Fig. 1 illustrates according to from an example of the crimping head of prior art known to WO 2012/160512.In this figure, ginseng
Examine label 10 and generally indicate the crimping head carried by multi-axis industrial robot R, this multi-axis industrial robot R only its terminal part
Divide visible, there is the wrist 14 that can move and orient head 10 in three dimensions.In Demonstration Application, robot R electronics
Be connected to controller (not shown), this controller is programmed to for according to by with reference to the Fig. 7 in accompanying drawing in further detail below
Ground describes, and moves along predefined paths and orients crimping head 10, for performing flange crimping operation.
Head 10 according to prior art includes upper section 20, and this upper section 20 is rigidly connected to have circular shape
The general flange connector 22 of shape, for being connected to robot wrist.This flange has for engaging connecting bolt (not shown)
Multiple holes, be connected to robot wrist for according to conventional technique own.Crimping head 10 also includes relatively lower part
24, this relatively lower part 24 rotatably supports two crimping rollers 26,27 around common axis 28, and common axis 28 is relative
Orthogonal in the longitudinal axis 100 of crimping head 10.
As being shown specifically, in fig. 2, in the head 10 according to prior art, relatively low head portion 24 includes column jacket
Shape main body 240, outer cylindrical main body 240 is slidably mounted in cylindrical main body 200, and cylindrical main body 200 forms head
A part for upper section 20, cylindrical main body 200 is connected to flange connector 22.Head 10 according to prior art also includes edge
Two helical springs 30A, 30B of head axes 100 alignment.Spring 30A, 30B lean against cylindrical from the most farther end
On the end member of main body 20, and spring 30A, 30B from each other closer to end lean against on the opposing face of intermediary element 32, in
Between element 32 be passed through in cylindrical main body 200 formed the most contrary conduit be rigidly connected to outer cylindrical main body 240.
Fig. 1, the crimping head 10 shown in 2 can be used according to " pushing away " pattern with according to " drawing " MODE." pushing away "
In pattern, robot 10 pushes away crimping head 10 against part, in order to use in two crimping rollers 26,27 for profit
With roller facing downward in the face of (with reference to Fig. 1,2) part perform flange crimping operation.In " drawing " pattern, robot 12 is towards flange 22
(that is, with reference to Fig. 1,2 upward) draws crimping head 10, in order to use in crimping roller 26,27 one upward faced by side
(referring to the drawings), for performing flange crimping operation.In " pushing away " pattern, it is rigidly connected to the cylindrical main body of flange connector 22
200 trend towards relative to the outer cylindrical main body 240 of carrying crimping roller down (with reference to Fig. 1,2) mobile, thus cause higher spiral shell
The compression of rotation spring 30A.In " drawing " pattern, cylindrical main body 200 trends towards relative to outer cylindrical main body 240 upward (again
Referring to the drawings) mobile, thus cause the compression of relatively low helical spring 30B.
According to point out in document WO 2012/160512, crimping can be replaced rapidly by means of Quick Connect Kit
Each in roller 26,27, this Quick Connect Kit can be by robot or be applicable to be bonded on head the release device provided
Any other automatic or manual mechanism operate.But, the most there is not prediction or hint for present invention basis
Concept, i.e. provide and the overall relatively lower part relative to crimping head can disconnect the unit carrying crimping roller coupled.
Fig. 3 in accompanying drawing illustrates the another known solution used by same Applicant, wherein, and can be by using quickly
Attachment means 30 and making is similar to Fig. 1, the crimping head of 2 disconnects connection rapidly from its robot of carrying, and this quickly connects
Device 30 between the flange connector 22 being positioned at crimping head 10 higher end and robot wrist (the most not shown) it
Between.In solution known to this, Quick Connect Kit 34 is to need to provide have cable 36 and for supplying pressurization sky
Type in the robot of the flexible pipe 37 of gas, this is necessary for controlling the operation of Quick Connect Kit 34.
In addition to intrinsic cost, these cables and flexible pipe have experience continuous deformation during the operation lifetime of robot
Shortcoming, result they due to its abrasion must by periodic replacement, thus cause by safeguard stop the extra cost that causes and
Cap loss.In the situation of crimping head, the abrasion of cable and flexible pipe is especially severe, because head is frequently used for edge
The whole peripheral of component performs flange crimping operation, it means that, head self performs 360 ° of rotations, so that Quick Connect Kit
Cable and supply hose experience the most serious torsional deflection.
Fig. 3 A in accompanying drawing also shows that the conventional solution of the type of Fig. 3, and wherein, crimping head 10 is provided with quickly connection
Device 34, and therefore provide cable and for the flexible pipe that device 34 is supplied.Figure with the head being shown without device 34
3B relatively makes shortcoming obvious, also with regard to the more volume caused by the large scale of device 34.And, the cable of device 34
Must be necessarily arranged at inside robot with supply hose, so they need to provide corresponding support member in robot, this causes
More volume and complication.And, outside robot provide cable be because of with the exotic that can be located at workpiece fixed station
May originating of the problem that the interference of body causes.From the beginning of the prior art level, it is an object of the invention to find and overcome above
The solution of the shortcoming pointed out.
The explanation of preferred implementation
Fig. 4-6 in accompanying drawing illustrates the example embodiment of the crimping head according to the present invention.In these figures, by identical
Reference number instruction with Fig. 1,2 part as part.
As previously indicated herein, according to being mainly characterized by of the crimping head of the present invention, in this head, crimping roller
26,27 rotatably being supported by roller load bearing unit 40, roller load bearing unit 40 can overall relatively low from crimping head 10
Part 24 separates.To this end, the Quick Connect Kit 50 of any known type is between roller load bearing unit 40 with formation head relatively
Between the outer cylindrical main body 240 of a part for lower part 24, the circle that Quick Connect Kit 50 will be located on roller load bearing unit 40
Shape flange 42 is connected to round flange 242, and round flange 242 is fixed on the lower ends of outer cylindrical main body 240.In showing of illustrating
In the situation of example, according to nominal document EP 1 810 777 A1's with Pascal Engineering Corporation
Teaching, it is provided that attachment means 50.Above mentioned bibliographic reference part carrying saddle carries structure to the saddle of saddle conveyer
Connection show this Quick Connect Kit.Applicant has found, however, that the application that also can illustrate in this article advantageously makes
Use this device.
It is known per se in view of the device 50 shown in accompanying drawing, is described herein as it only with reference to its general features.
As shown in Figure 6, device 50 includes that the first connection parts 51 and second couple parts 52, and first couples parts
51 are rigidly connected to roller load bearing unit 40, and second couples parts 52 by forming at the piston of parts 51 medial movement.
Hydraulic pressure chamber 53 is provided in the inner side of device 50, the fluid under this hydraulic pressure chamber 53 supply pressure can be revolted for making piston 52
The effect of one group of Belleville spring (belleville spring) 54 is mobile (with reference to Fig. 6) down.Spring 54 is between by bar 52b
It is connected between the end head 52a of piston 52 and the main body coupling parts 51.Ball element 55 is between coupling parts 51 and piston
Between 52.Piston 52 is generally maintained in lifting position (with reference to Fig. 6), in this lifting position, ball element by Belleville spring 54
55 axially keep coupling parts 51 relative to piston 52.When the fluid under pressure is fed into room 53, piston 52 revolts shellfish
The effect of family name's spring 54 is moved (with reference to Fig. 6) down, thus arrives ball element 55 and allow the position axially disconnecting connection of parts 51
Put.Under join condition, this device also includes other connection element (the most not shown), for relative to rotation relatively
Transfer locking two and couple parts.As indicated above, in a word at the document EP 1 of the part forming state of the art
810 777 A1 provide the detailed description of device 50.
Performing the supply to attachment means 50 Room 53 of the fluid under pressure at fixed station, for changing, roller carrying is single
Unit, this fixed station illustrates as example in the figure 7 and is indicated by labelling S wherein.At the S of station, it is provided with joint elements 60, engages
Parts 60 are received in the cooperation bearing (not shown in FIG.) of attachment means 50, for the room 53 providing attachment means 50
And the hydraulic communication between the external source of the fluid under pressure.
But be only used as non-limiting example and the attachment means illustrated in this article is provided, using similar device will be can
Can, in this similar device, such as by the air under supply pressure, or pass through mechanism, it is thus achieved that piston element 52
Operation, this piston element 52 act as actuation component for release device.Thereafter in the situation in face, joint elements 60 are to push away
Parts, it is suitable to be received in the cooperation bearing of attachment means, and the movable part of operation attachment means 50, and this may move
Parts are connected to the release actuation component of device in any known fashion.
Be also possible to use any general type (also from above entirely as example describe different) quickly connect dress
Put.
Fig. 7 in accompanying drawing is purely by way of example and illustrates the present invention application to crimping fixed station, and this crimping fixed station is located at
In the factory producing vehicle door, hold on two metal panels along the peripheral structure forming door of door
Row flange crimping operation.
According to techniques known in themselves, door D is arranged in the horizontal level above the bracket C carried by substrate B.
Above bracket C, press door D, pressing component P by pressing component P and be carried at the lower ends of post P1, column
P1 can move vertically.Flange crimping operation is performed by means of the crimping head 10 according to the present invention.This head is arranged on any
On the wrist 14 of the multiaxial joint humanoid robot R of known type.This robot includes base structure R and is hinged in each other
Multiple robotic component, base structure R1 is connected to robot wrist 14 by these robotic component.As noted above
, the operation of robot is controlled in a way known by the controller of any known type, this controller is programmed
For in a predefined manner according to predefined paths Move Volumes end portion 10.During flange crimping operation, depend on required operation, make
By one or the other in two crimping rollers 26,27.
Becoming if desired when replacing roller load bearing unit 40, crimping head 10 is transported to fixed station S by robot, here,
Being provided with the removable storage bed M for structure 70, structure 70 is applicable to receive and support rollers load bearing unit 40.The most general
When example shown in strategic point, structure 70 can move along predefined paths by means of the conveyer 80 of any known type.
In a preferred embodiment, conveyer 80 has and is in horizontal rotation type conveyer belt (horizontal carousel) (only one portion
Point the most visible) the layout of form, structure 70 can in one direction or be moved along it on other direction.With this
Mode, when needing to replace the roller load bearing unit 40 carried by the crimping head 10 being arranged on robot R, sets at the S of station
Free structure 70, the structure 70 of this sky is for receiving the roller load bearing unit of abrasion.Once robot R is by crimping head 10
Take to above the structure 70 of this sky, then joint elements 60 automatically extend, for the quick connection being bonded on crimping head 10
Cooperation bearing on device.In this way, trigger the release connected, and roller load bearing unit 40 is left in the structure 70 of correspondence
On.Then make conveyer 80 move, carry to the S that stands for by the structure 70 of roller load bearing unit 40 new for carrying, in order to this is new
Unit can be engaged rapidly by crimping head 10, and be then rigidly connected to crimping head by the disengaging of joint elements 60
Portion 10, in order to make Quick Connect Kit be in the condition of being rigidly connected due to the effect of spring 54.Once this operation of executed, then
Crimping head band can be back to treat the part of crimping by robot, for performing new crimp cycle.
With reference to Fig. 5,5A, according to the preferred embodiment of the crimping head of the present invention relative at Fig. 1, known shown in 2
Crimping head there is more favourable difference, this will be discussed below.However, it is understood that the present invention includes providing
Can be by the volume in attachment means crimping head from the crimping head (also including Fig. 1, the head of 2) of any known type
The relatively low roller load bearing unit being partially separated in end portion.
The first other difference relative to Fig. 1, the preferred embodiment of the head of 2 is, two springs 30A, 30B are by spring
Guiding bar 31 to guide, spring guides bar 31 pass two springs and axially arrange through intermediate support member 32.
And, in a preferred embodiment, during the operation according to " drawing " pattern and in operating according to " pushing away " pattern all
During flange crimping operation, crimping head is put on by means of two corresponding force transducers (load cell (load cell)) 33 monitoring
The load in portion, force transducer 33 is between the respective end from the most farther end Yu cylindrical main body 200 of spring 30A, 30B
Between element.
Spring guides the lower ends of bar 31 to be connected to dish 39 (Fig. 5 A), and the lower ends of relatively low spring 30B is by means of card
Mouth couples and is shelved on dish 39, and this bayonet socket couples and includes the transverse bolt 35 carried by bar 31 and in cylindrical sleeve
The shaping channel 37 formed in (cylindrical skirt), this cylindrical sleeve highlights and by one of transverse bolt 35 from dish 39
End engages.
Conduit 37 is shaped such that the usual manner coupled for bayonet socket performs to install operation, i.e. by dish 39
First moves axially, and this causes the compression of relatively low spring 30B, be afterwards dish 39 rotate and subsequently at relatively low spring 30B
Axially releasing towards final locked position under effect.Therefore the locking coupled self is guaranteed by relatively low spring 30B.Due to this
Arrange, can be with the installation of easily and rapidly mode performance element.
According to another important difference, can be by acting on spiral shell away from each in two the most farther ends of spring
Regulating the load of two springs 30A, 30B on nail 220 (Fig. 5 A), this screw 220 engages female thread lining 230, by means of key
250 these female thread linings 230 of prevention rotate relative to cylindrical main body 200 and this female thread lining 230 also engages and passes from corresponding
The threaded portion 260 that the main body of sensor 33 is prominent.The rotation change screw-thread bush 230 of screw 220 is relative to head cylindrical master
The axial location of body 200.The main body of sensor 37 has also towards the threaded portion 260 on the side faced by dish 39, threaded portion
260 are divided to be received in the threaded axial bore of dish 39.
In registration operation (registering operation) period of the load of spring 30A, 30B, by by locking pin
Outer cylindrical main body 240 and cylindrical main body 200 are locked in the alignment hole (being not shown) being inserted through these columnar body
Relative axial position.
Represent relative to showing in WO 2012/160512 now for regulating the said system of the load of spring 30A, 30B
The marked improvement having been provided that in the system of the type gone out.In system known to these, in order to control the load of spring, need to survey
Measure not deformed under the conditions of its length, to measure the physical length pacifying spring-loaded space, and be inserted into guaranteeing expectation pressure
Multiple pads of contracting or packing ring.Additionally, in system known to these, if spring can break down before being replaced at it, then need
Measure new spring, to check the measurement of length of installing space and to provide for reproducing the pad needed for identical load value
Sheet.
By new above-mentioned regulation system, finally regulating load value may be carried out by accurately reproducing identical load value,
Even after changing spring (tolerance on its length is big), because by screw 220, interval and weight may be recovered
Current prestige loads.In this manner it is possible to the manufacturing tolerance of system independently, the phase between different crimping head is accurately reproduced
With regulation.Additionally, by sensor 33, the integrity at the spring used during head may be assessed.
In the situation of the present invention, can be easily performed above-mentioned under conditions of roller load bearing unit 40 is removed from head
Install and regulation operation.
Certainly, although invention principle keep identical, but the details with embodiment can be constructed can be relative to being only used as showing
The change significantly that example describes and illustrates, without deviating from the scope of the present invention.
Specifically, as above having been pointed out, the foundation characteristic of the present invention is separable roller load bearing unit
Offer can use in any kind of roller crimping head.
And, can disclose with being only used as example the most in this article for changing the layout of the fixed station S of roller load bearing unit
Layout different.
Claims (10)
1. a roller crimping head, including:
-higher head portion (20), has flange (22), and described flange (22) is used for being connected to the wrist (14) of robot (R)
Or other support movable equipment, and
-relatively low head portion (24), carries one or more crimping roller (26,27),
It is characterized in that, described head (10) also includes:
-roller load bearing unit (40), it carries described crimping roller (26,27) and is suitable to entirety from described crimping head relatively
Lower part (24) separates,
-Quick Connect Kit (50), it is connected to described head rigidly and removedly by described roller load bearing unit (40)
Relatively lower part (24),
-described Quick Connect Kit (50) including:
-spring means (54), under the conditions of it trends towards described Quick Connect Kit (50) is maintained at attended operation,
-actuation component (52), it can be revolted the effect of described spring means (54) and move and connect for release, and fit
In being operated by joint elements (60), described joint elements (60) are located at fixed station (S) place, the neighbouring described machine of described fixed station (S)
Device people (R) or for supporting other movable equipments described of described head, and described joint elements (60) are suitable to be received in
In the cooperation bearing of described head (10),
-in this way, described Quick Connect Kit (50) need not may move in described robot (R) or described support set
Standby upper offer cable or supply hose.
Roller crimping head the most according to claim 1, it is characterised in that described relatively low head portion (24) includes column jacket
Shape main body (240), described outer cylindrical main body (240) is slidably mounted in cylindrical main body (200), described cylindrical main body
(200) formed described in the part of higher head portion (20) and be connected to described flange connector (22).
Roller crimping head the most according to claim 2, it is characterised in that described crimping head (10) includes higher spiral
Spring (30A) and relatively low helical spring (30B), described higher helical spring (30A) and relatively low helical spring (30B) are arranged to
Described cylindrical main body (200) inner coaxial ground alignment, described higher and relatively low spring (30A, 30B) from the most farther
End is by the end member effect relative to described cylindrical main body (200), the neighbour of described higher and relatively low spring (30A, 30B)
Diameter is passed through by the opposing face effect relative to intermediate support member (32), described intermediate support member (32) in nearly end each other
Ground contrary element and be rigidly connected to described outer cylindrical main body (240), the most contrary described element is rigidly attached
In described outer cylindrical main body (240) and through described cylindrical main body (200) longitudinal channels arrange,
Described higher and relatively low spring (30A, 30B) is provided with spring and guides bar (31), and described spring guides bar (31) through described
Spring (30A, 30B) and axially arranging through described intermediate support member (32).
Roller crimping head the most according to claim 3, it is characterised in that described higher and relatively low spring (30A, 30B)
From the most farther end by the insertion of two force transducers (33) by the phase relative to described cylindrical main body (200)
Answer end member effect.
Roller crimping head the most according to claim 3, it is characterised in that it is provided with for regulating described relatively low spring
(30B) the first of load regulates screw components (220) and is used for regulating the second regulation of the load of described taller springs (30A)
Screw components (220).
Roller crimping head the most according to claim 5, it is characterised in that in described first and second regulation screw components
Each include screw (220) and female thread lining (230), described screw (220) is rotatably pacified in axial restraint position
Being loaded on the respective end of described cylindrical main body (200), described female thread lining (230) is prevented from relative to described respective end
Element rotate and by described screw (220) engage, described lining (230) be also engaged with in described spring (30A, 30B)
On the threaded portion (260) of corresponding in a corresponding relevant described force transducer (33).
Roller crimping head the most according to claim 1, it is characterised in that it is relatively low that described relatively low spring (30B) has it
End, described lower ends is supported relative to the support plate (39) being provided with cylindrical sleeve, and described cylindrical sleeve has and from institute
State the shaping channel (37) that the prominent diameter pin (35) of spring guiding bar (31) cooperates, in order to guide bar (31) at described spring
The bayonet socket providing described support plate (39) in lower ends couples.
8. a crimping fixed station, including robot (R) or other support movable equipment and according in aforementioned claim
The crimping head (10) of any one, described crimping head (10) is carried by described robot (R) or described support movable equipment.
Crimping fixed station the most according to claim 8, it is characterised in that it includes fixed station (S), described fixed station (S)
It is adjacent to described robot (R) or for supporting the described movable equipment of described head, described fixed station (S) includes junction surface
Part (60), described joint elements (60) are suitable at described robot (R) or described support movable equipment by described head
(10) band is engaged with in the cooperation bearing of described head after the position of neighbouring described fixed station (S), in order to operation is described
Actuation component (52) connects for release.
Crimping fixed station the most according to claim 9, it is characterised in that at described fixed station (S) place, it is provided that for roller
The removable storage bed (M) of sub-load bearing unit (40), described removable storage bed (M) includes for receiving roller load bearing unit
(40) multiple structures (70), the plurality of structure (70) can move along open or close path, in order to when described roller
Load bearing unit (40) can be used for receiving the position of described roller load bearing unit (40) when described crimping head (10) disconnects and coupling
Put the reception structure (70) that place provides empty, and another reception unit (70) occupied by another roller load bearing unit (40) then may be used
It is taken to described position couple with described crimping head (10) for by another roller load bearing unit (40) described.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ITTO2014A000136 | 2014-02-19 | ||
| ITTO20140136 | 2014-02-19 | ||
| PCT/IB2015/051231 WO2015125084A1 (en) | 2014-02-19 | 2015-02-18 | Roller hemming head having a replaceable roller-carrying unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106255559A true CN106255559A (en) | 2016-12-21 |
Family
ID=50693891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580009602.6A Pending CN106255559A (en) | 2014-02-19 | 2015-02-18 | There is the roller crimping head of replaceable roller load bearing unit |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20170056953A1 (en) |
| EP (1) | EP3107668A1 (en) |
| KR (1) | KR20160120728A (en) |
| CN (1) | CN106255559A (en) |
| CA (1) | CA2937211A1 (en) |
| MX (1) | MX2016010297A (en) |
| WO (1) | WO2015125084A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111565899A (en) * | 2017-12-14 | 2020-08-21 | 奥恩罗伯特有限公司 | Simple collaboration tool changer |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106064189A (en) * | 2016-07-22 | 2016-11-02 | 上海翼锐汽车科技有限公司 | A kind of new automobile door closure rolling head mechanism |
| 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 |
| US10786883B2 (en) * | 2016-12-20 | 2020-09-29 | United Technologies Corporation | Deep rolling tool and method |
| KR101941018B1 (en) * | 2018-09-27 | 2019-04-12 | (주)코어텍 | Hemming roller capable of bi-direction pressing force detection and control method thereof |
| CN114733943B (en) * | 2022-06-13 | 2022-09-13 | 冰轮环境技术股份有限公司 | Robot hem device and hem system |
| US20240060165A1 (en) * | 2022-08-22 | 2024-02-22 | Raytheon Technologies Corporation | Surface treatment system design for high fatigue life hollow fan blades |
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| EP2239089A1 (en) * | 2008-01-28 | 2010-10-13 | Pascal Engineering Corporation | Work pallet positioning and fixing device |
| DE202009005111U1 (en) * | 2009-08-05 | 2010-12-30 | Kuka Systems Gmbh | folding device |
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| CN202805187U (en) * | 2011-09-08 | 2013-03-20 | 株式会社安川电机 | Robot hand and robot |
-
2015
- 2015-02-18 CN CN201580009602.6A patent/CN106255559A/en active Pending
- 2015-02-18 US US15/119,413 patent/US20170056953A1/en not_active Abandoned
- 2015-02-18 MX MX2016010297A patent/MX2016010297A/en unknown
- 2015-02-18 EP EP15711849.8A patent/EP3107668A1/en not_active Withdrawn
- 2015-02-18 WO PCT/IB2015/051231 patent/WO2015125084A1/en active Application Filing
- 2015-02-18 KR KR1020167022091A patent/KR20160120728A/en unknown
- 2015-02-18 CA CA2937211A patent/CA2937211A1/en not_active Abandoned
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|---|---|---|---|---|
| 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 (en) * | 1995-09-14 | 1997-10-08 | 邵文远 | Compositions of metal-working machines |
| US20050229666A1 (en) * | 2004-03-30 | 2005-10-20 | Tesco Engineering Inc. | Roller type hemming apparatus |
| WO2006046303A1 (en) * | 2004-10-29 | 2006-05-04 | Pascal Engineering Corporation | Coupler for supporting body and movable body |
| EP2239089A1 (en) * | 2008-01-28 | 2010-10-13 | Pascal Engineering Corporation | Work pallet positioning and fixing device |
| WO2010085110A2 (en) * | 2009-01-23 | 2010-07-29 | Choi Hak Cheol | Roller hemming unit of roller hemming equipment |
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| DE202009005111U1 (en) * | 2009-08-05 | 2010-12-30 | Kuka Systems Gmbh | folding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111565899A (en) * | 2017-12-14 | 2020-08-21 | 奥恩罗伯特有限公司 | Simple collaboration tool changer |
| CN111565899B (en) * | 2017-12-14 | 2023-08-18 | 奥恩罗伯特有限公司 | Simple cooperative tool changer |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20160120728A (en) | 2016-10-18 |
| US20170056953A1 (en) | 2017-03-02 |
| WO2015125084A1 (en) | 2015-08-27 |
| EP3107668A1 (en) | 2016-12-28 |
| CA2937211A1 (en) | 2015-08-27 |
| MX2016010297A (en) | 2016-10-28 |
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| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161221 |