To provide a compact hemming apparatus in which a load cell is made unnecessary without inserting into a slide hole of a supporting bracket in a movable part of a roller head mounted to a robot hand and which has a small number of the parts.
In a hemming device 10 with which hemming work is performed while pressurizing a pressurizing roller 2 which is mounted to the robot 1 against a workpiece W placed on an anvil 8, the device includes: a supporting arm 3 with which a pressurizing roller 2 is freely rotatably supported in a tip part; a motor 4 which is pivotally supported by the base end part of the supporting arm 3 and with which the supporting arm 3 is rotated around the base end part; and a supporting head 5 with which this motor 4 is fixed to the robot 1. The pressurizing force of the pressurizing roller 2 is controlled by the rotational torque of the motor 4.
YAMANAKA GOSUKE
KUMAZAKI MICHISADA
| JP2003103325A | 2003-04-08 | |||
| JP2002035865A | 2002-02-05 |
Etsuo Tada
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