Magnetically actuated roller head

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.

1 . A magnetically actuated roller head comprising:
 a linear actuator mountable on an end of a multi-axis robotic arm;   said linear actuator including a slide, a magnet operably connected to said slide and operable to urge said slide in a linear direction, and a connector disposed on a distal end of said slide; and   a roller hemming head mounted on said linear actuator by said connector, said roller hemming head including at least one hem roller.   
   
   
       2 . The magnetically actuated roller head of  claim 1 , wherein said magnet is a rare earth magnet. 
   
   
       3 . The magnetically actuated roller head of  claim 1 , wherein said linear actuator includes a rare earth magnet disposed between two opposing magnets, the polarity of one of said opposing magnets is disposed in the same direction as the polarity of said rare earth magnet and the polarity of the other of said opposing magnets is disposed in an opposite direction to the polarity of said rare earth magnet. 
   
   
       4 . The magnetically actuated roller head of  claim 3 , wherein said two opposing magnets are rare earth magnets. 
   
   
       5 . The magnetically actuated roller head of  claim 1 , wherein said linear actuator includes an electromagnet disposed on each of opposite sides of said magnet, said electromagnets controlling and assisting a force transmitted by said magnet. 
   
   
       6 . The magnetically actuated roller head of  claim 1 , wherein said slide includes an anti-rotate feature. 
   
   
       7 . A magnetically actuated roller head comprising:
 a housing including an internal bore, said housing being mountable on an end of a multi-axis robotic arm;   a pair of opposing actuator members fixedly mounted within said inner bore;   a shaft extending through said actuator members;   a magnet mounted on said shaft and moveable within said inner bore, said magnet being disposed between said actuator members;   a slide connected to said shaft and extending outwardly from said housing;   a connector disposed on a distal end of said slide; and   a roller hemming head mounted on said connector, said roller hemming head including at least one hem roller;   whereby said actuator members control and assist a hemming force applied by said roller hemming head through said magnet.   
   
   
       8 . The magnetically actuated roller head of  claim 7 , wherein said magnet is a rare earth magnet. 
   
   
       9 . The magnetically actuated roller head of  claim 7 , wherein said actuator members are rare earth magnets. 
   
   
       10 . The magnetically actuated roller head of  claim 9 , wherein the polarity of one of said actuator members is disposed in the same direction as the polarity of said rare earth magnet and the polarity of the other of said actuator members is disposed in an opposite direction to the polarity of said rare earth magnet. 
   
   
       11 . The magnetically actuated roller head of  claim 7 , wherein said actuator members are electromagnets. 
   
   
       12 . The magnetically actuated roller head of  claim 7 , wherein said housing includes an anti-rotate linear guide, and said slide includes an anti-rotate feature cooperable with said linear guide. 
   
   
       13 . The magnetically actuated roller head of  claim 12 , wherein said anti-rotate feature is one of a spline, a ball spline, and a square linear bearing. 
   
   
       14 . 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 slide, a magnet operably connected to said slide and operable to urge said slide in a linear direction, and a connector disposed on a distal end of said slide; and   mounting a roller hemming head on said linear actuator by said connector, said roller hemming head including at least one hem roller;   whereby said linear actuator provides a hemming force for performing roller hemming operations with said hem roller.   
   
   
       15 . The method of  claim 14 , wherein said magnet is a rare earth magnet. 
   
   
       16 . The method of  claim 14 , including the step of:
 disposing said magnet between a pair of opposing actuator members.   
   
   
       17 . The method of  claim 16 , wherein said actuator members are rare earth magnets. 
   
   
       18 . The method of  claim 16 , wherein said actuator members are electromagnets. 
   
   
       19 . The method of  claim 14 , including the step of:
 restricting axial rotation of said roller hemming head by providing a spline on said slide.   
   
   
       20 . The method of  claim 14 , including the step of:
 providing a plurality of different hem rollers on said roller hemming head.