Patent ID: 6125683
Filing Date: 2000-10-03
Classification: B21D

Abstract:
A method of moving parts into and out from a hemming machine having upper and lower dies moveable between an open spaced apart position and closed hemming position;the method comprising the steps of:providing a robot having a moveable arm with an end effector including lower and upper engaging means on lower and upper surfaces thereof;picking up a first part with said lower engaging means and placing the part on said lower die;clearing said hemming machine of said robot arm;closing said upper and lower dies to hem said first part;engaging said first hemmed part on said upper die and opening said dies;picking up a second part with said lower engaging means and placing it on said lower die;raising said robot arm and engaging said first hemmed part on said upper engaging means;releasing said first hemmed part from said upper die;clearing said hemming machine of said first hemmed part and robot arm; andcycling said upper and lower dies to hem the second part.