Integrated push pull roller head

Abstract

A roller hemming apparatus includes a linear actuator mountable on an end of a multi-axis robotic arm. The linear actuator includes a connector. A roller hemming head is mounted on the linear actuator by the connector. The roller hemming head includes at least one hem roller. The roller hemming head performs both push force and pull force roller hemming operations.

1 . A roller hemming apparatus comprising:
 a linear actuator mountable on an end of a multi-axis robotic arm, said linear actuator including a connector;   a roller hemming head mounted on said linear actuator by said connector, said roller hemming head including at least one hem roller;   whereby the roller hemming head performs both push force and pull force roller hemming operations.   
   
   
       2 . The roller hemming apparatus of  claim 1 , wherein said connector is a quick release connector. 
   
   
       3 . The roller hemming apparatus of  claim 1 , wherein said linear actuator includes a housing assembly and a piston rod assembly slidable within said housing assembly, said piston rod assembly including a piston rod extending from said housing assembly and including said connector on a distal end thereof. 
   
   
       4 . The roller hemming apparatus of  claim 3 , wherein said housing assembly includes an internal spline and said piston rod includes an external spline cooperable with said internal spline to restrict axial rotation of said piston rod and mounted roller hemming head. 
   
   
       5 . The roller hemming apparatus of  claim 1 , wherein said roller hemming head includes a plurality of different hem rollers. 
   
   
       6 . The roller hemming apparatus of  claim 5 , wherein one of the hem rollers is a pull-type hem roller and another of the hem rollers is a push-type hem roller. 
   
   
       7 . The roller hemming apparatus of  claim 5 , wherein one of the hem rollers is configured to fit into smaller clearances than another of the hem rollers. 
   
   
       8 . A method of roller hemming comprising the steps of:
 mounting a linear actuator on an end of a multi-axis robotic arm, said linear actuator including a connector;   mounting a roller hemming head on said linear actuator by said connector, said roller hemming head including at least one hem roller;   performing both push force and pull force roller hemming operations with the roller hemming head.   
   
   
       9 . The method of  claim 8 , wherein said connector is a quick release connector, and said method includes the step of exchanging said roller hemming head with another roller hemming head. 
   
   
       10 . The method of  claim 8 , including the step of:
 restricting axial rotation of said roller hemming head by providing a spline in said linear actuator.   
   
   
       11 . The method of  claim 8 , including the step of:
 operating said linear actuator to adjust a magnitude of the hemming force applied by said hem roller.   
   
   
       12 . The method of  claim 8 , including the step of:
 providing a plurality of different hem rollers on said roller hemming head.   
   
   
       13 . The method of  claim 12 , including the step of:
 mounting a pull-type hem roller on said roller hemming head and mounting a push-type hem roller on said roller hemming head.   
   
   
       14 . The method of  claim 12 , including the step of:
 mounting a hem roller on said roller hemming head that is configured to fit into smaller clearances than another hem roller mounted on said roller hemming head.