| 摘要 |
<p>A hemming system includes a hemming machine (10) having upper (12) and lower (14) dies moveable between an open spaced apart position and closed hemming position. The upper die (12) includes an engager (26) operative for engaging a part thereon. A robot (16) having a moveable arm (18) with an end effector (20) including lower and upper engagers (22, 24) on lower and upper surfaces thereof; the robot arm (18) being operable to pick up a first part (P1) with the lower engager (22), place the part (P1) on the lower die (14) and clear the hemming machine (10). The hemming machine (10) is operable to close the upper and lower dies (12, 14) to hem the first part (P1). The engager (26) on the upper die (12) is operable to engage the first hemmed part (P1) on the upper die (12) as the dies (12, 14) are opened. The robot arm (18) is operable to pick up a second part (P2) with the lower engaging means (22), place the part (P2) on the lower die (14), raise, and engage the first hemmed part (P1) on the upper engaging means (24). The engager (26) on the upper die (12) is operable to disengage the first hemmed part (P1), whereby the first hemmed part (P1) and robot arm (18) can be cleared of the hemming machine (10) and the upper and lower dies (12, 14) cycled to hem the second part (P2).</p> |
