Patent ID: 6983633
Filing Date: 2006-01-10
Classification: B21D,Y10T

Abstract:
1. A robot manipulated roll form hem tool, the robot having an arm with a receptacle on one end, the hem tool comprising: an end effector adapter that is adapted to be received in the receptacle on the end of the robot arm; a linkage comprising a bracket extending from the end effector, a tool support member, and two links that connect the bracket and the tool support member together as a four bar linkage; a first roller disposed on the tool support member with an axis of rotation that is at a first angular orientation relative to the tool support member; a second roller disposed on the tool support member with an axis of rotation at a second angular orientation relative to the tool support member that is different than the first angular orientation; and a force transducer operatively engaging the tool support member to limit force applied by the robot arm to the rollers through the tool support member.