Abstract: A roller hemming system for hemming nested panels includes a single hemming workstation providing for tooling exchange operations simultaneous with hemming operations. A plurality of robots that perform tooling exchange at the hemming workstation, movement of nested panels through the system, and hemming operations on nested panels at the hemming workstation. Nested panels are inputted into the system and hemmed nested panel assemblies are outputted from the system.

Abstract: A die change method includes providing a press apparatus having a base and a ram, and a first die set including an upper die member and a lower die member. The lower die member is supported on the base and the upper die member is mounted on the ram. The ram is lowered into a closed, home position to mate the upper and lower die members and to perform an operation on a workpiece disposed between the die members. The ram is released from the upper die member. The ram is raised a minimum distance to provide minimal clearance for removing the upper and lower die members from the press. The mated upper and lower die members are moved out of the press with the workpiece held between the upper and lower die members.

Abstract: A robotic wheelhouse hemming apparatus includes a base. A multi-axis robot is mounted on the base. The robot includes an arm. A roller hemming head is mounted on an end of the arm for roller hemming. A slide mechanism is mounted for multi-directional movement on the base. A support is mounted on the slide mechanism. An anvil is supported on the support. A registration member is integral with the support and is engagable by the roller hemming head. The robot arm is operable to manipulate the roller hemming head into engagement with the registration member, and subsequent movement of the robot arm moves the support on the slide mechanism, thereby adjusting the position of the anvil relative to a workpiece to be hemmed.

Abstract: A method of roller hemming an inner panel and an outer panel includes providing a hem roller having an angled roller hemming surface, and adjusting a hem flange line by moving the hem roller axially and generally parallel to an anvil support surface.

Abstract: A magnetically actuated roller head includes a linear actuator mountable on an end of a multi-axis robotic arm. The linear actuator includes a slide, a magnet operably connected to the slide and operable to urge the slide in a linear direction, and a connector disposed on a distal end of the slide. A roller hemming head is mounted on the linear actuator by the connector. The roller hemming head includes at least one hem roller.

Abstract: A die change method includes providing a press apparatus having a base and a ram, and a first die set including an upper die member and a lower die member. The lower die member is supported on the base and the upper die member is mounted on the ram. The ram is lowered into a closed, home position to mate the upper and lower die members and to perform an operation on a workpiece disposed between the die members. The ram is released from the upper die member. The ram is raised a minimum distance to provide minimal clearance for removing the upper and lower die members from the press. The mated upper and lower die members are moved out of the press with the workpiece held between the upper and lower die members.

Abstract: A roller hemming system for hemming nested panels includes a single hemming workstation providing for tooling exchange operations simultaneous with hemming operations. A plurality of robots that perform tooling exchange at the hemming workstation, movement of nested panels through the system, and hemming operations on nested panels at the hemming workstation. Nested panels are inputted into the system and hemmed nested panel assemblies are outputted from the system.

Abstract: A robotic wheelhouse hemming apparatus includes a base. A multi-axis robot is mounted on the base. The robot includes an arm. A roller hemming head is mounted on an end of the arm for roller hemming. A slide mechanism is mounted for multi-directional movement on the base. A support is mounted on the slide mechanism. An anvil is supported on the support. A registration member is integral with the support and is engagable by the roller hemming head. The robot arm is operable to manipulate the roller hemming head into engagement with the registration member, and subsequent movement of the robot arm moves the support on the slide mechanism, thereby adjusting the position of the anvil relative to a workpiece to be hemmed.

Abstract: An integrated, automated, variable sheet metal forming and assembly system includes a plurality of robotic material conveyors and a forming subsystem including at least one sheet metal draw press apparatus. An assembly subsystem is in series with and downstream from the forming subsystem. The assembly subsystem includes a roller hemming apparatus. An inspection subsystem is in series with and downstream from the assembly subsystem. The plurality of robotic material conveyors are operable to convey assembly workpieces to and from the subsystems.

Abstract: A pre-hemming apparatus for use with a hemming die includes a driving member adapted to be centrally disposed below the hemming die. A plurality of link arms are operatively, pivotally connected to the driving member. A lever arm is operatively connected to each link arm. A flanging member is operatively connected to each lever arm at an end thereof. A plurality of mounts for supporting the lever arms are adapted to be mounted to a side of the hemming die. Each lever arm is pivotally connected to one of the mounts intermediate ends of the lever arm. An actuator is operatively engagable with the driving member. Actuation of the driving member moves the flanging members towards the hemming die through the lever arms and the link arms for pre-hemming, and away from the hemming die cycling the apparatus.

Abstract: A robotic pallet drive arrangement in a robotic roller hemming system including a track and a plurality of pallets movable on the track. The arrangement also includes a robot having an arm adapted for engagement with the pallets. Movement of the robot arm while the robot arm is engaged with one of the pallets moves the pallet along the track.

Abstract: A robotic turntable drive arrangement in a robotic roller hemming system includes a turntable having a top plate and a lower frame. The top plate is rotatable about the lower frame. The turntable further includes a plurality of lock positions. The arrangement also includes a robot having an arm adapted for engagement with the turntable top plate. Movement of the robot arm while the robot arm is engaged with the turntable top plate rotates the turntable top plate.

Abstract: A portable hemming apparatus includes a support structure, a plurality of modular self-contained hemmers disposed about the support structure and at least one pneumatic drive mounted on the support structure. Each modular hemmer includes a hem die holder, a hem die fixed to the hem die holder and a movable hem punch. A hem operator is operatively connected to each modular hemmer. Each hem operator is a lever arm assembly. Actuation of the drive moves the hem operators and causes the hem punches to close and open on the hem die, allowing for the hemming of a metal panel located within the modular hemmers. The support structure of die hemming apparatus can be adapted to be mounted on a robot arm, mounted on a pedestal stand, or hung from a tool balancer. These arrangements allow for various uses of the hemming apparatus. Further, the modular design of the hemmers allows the apparatus to be used for the hemming of various sizes and shapes of panels.

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.

Abstract: A roller type hemming apparatus includes a support member having a slide bore. A ball screw extends through the support member into the slide bore. A bearing is engaged with the ball screw inside the slide bore. The apparatus further includes a guided slide member having a first portion received in the slide bore and a second portion extending outside of the slide bore. The slide member first portion has a receiver. A resilient member is set in the receiver. The resilient member operably engages the bearing, the bearing being disposed outside of the receiver. The apparatus also includes a retaining plate having an opening therein. The retaining plate is mounted to the support member adjacent the slide bore for retaining the slide member first portion in the slide bore. A hem roller is rotatably mounted to the slide member second portion.

Abstract: A roller type hemming apparatus includes a support member having a slide bore, a compression pad of a block-like shape, and a slide member. The compression pad and the slide member are received in the slide bore such that the compression pad is intermediate the support member and the slide member. The compression pad and slide member are preloaded therein. The apparatus further includes a stop member having a radially projecting head. The stop member fastens the compression pad and the slide member to the support member. The apparatus also includes a hem roller. The slide member includes a flange projecting from an outer surface of the slide member and the hem roller is rotatably mounted on the flange. The movement of the slide member is tempered during the application of an abrupt compressive force.