JPH07314054A - Multipurpose roller hemming method and device therefor - Google Patents

Abstract

PURPOSE:To reduce equipment cost and floor space. CONSTITUTION:In a roller hemming method for hemming a press panel by holding a freely rotatable hemming roller 12 at the tip of a robot 1 movable along a preliminarily taught locust and by rollingly pressing a flange of the panel placed on a working table 5 by means of this hemming roller 12, tools are exchanged by a tool exchanging device 2 to execute the hemming and the other working by one robot 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multipurpose roller hemming method which can be used not only for hemming but also for other purposes such as panel transportation and sealer coating, and an apparatus for carrying out the method.

[0002]

2. Description of the Related Art In automobile shell bodies and the like, an outer panel and an inner panel are assembled and hemming is performed. As a processing method, there is a method of pressing with an upper mold and a lower mold, but since a dedicated pressing device is required, the equipment cost increases. In order to reduce equipment costs, a roller hemming device has been developed that attaches a hemming roller to the tip of an industrial robot and presses the workpiece while rolling the hemming roller to enable general-purpose hemming processing. There is. For example, in Japanese Examined Patent Publication No. 5-34101, a roller is rotatably attached to the tip of a robot that can move along a previously taught locus, and the flange of the panel is rolled by this roller, thereby hemming the panel. Disclosed is a roller hemming device for applying.

[0003]

However, the conventional hemming has the following problems. Robots equipped with hemming rollers perform only hemming processing, so other purposes,
For example, if the loading and unloading of the work and the application of the sealer are automated and performed by another device or robot for labor saving, a robot or device is required for each process, and the equipment cost increases. In addition, each requires an installation space, which requires a vast space. It is an object of the present invention to provide a multipurpose roller hemming method and apparatus capable of reducing equipment cost and installation space.

[0004]

The method and apparatus of the present invention for achieving the above object are as follows. (1) The handling attachment for panel transportation is attached to the tip of the robot using a tool changing device, and the first step of loading the outer panel to the processing table by the handling attachment, and the tool attached to the tip of the robot are described above. A second step of replacing the handling attachment with a sealer coating device using a tool changer and coating the outer panel with the sealer by the sealer coating device;
The third step of replacing the tool attached to the tip of the robot with the handling attachment from the sealer coating device using the tool exchanging device, transporting and positioning the inner panel on the outer panel, and the tool attached to the tip of the robot A multipurpose roller hemming method comprising: a fourth step of replacing the handling attachment with a hemming roller by using the tool exchanging device, and performing a hemming process including a prehem process and a main hemm process on the outer panel. (2) The multipurpose roller hemming method according to (1), wherein the feeding directions of the hemming rollers in the prehem processing and the main hemm processing are opposite to each other in the fourth step. (3) A robot having a tip movable along a taught path, two or more kinds of tools including a hemming roller, which are replaceably attached to the tip of the robot, and hemming is performed by the hemming roller. A work table on which a work including a panel is placed, and a tool changer for changing the tool mounted on the tip of the robot from one of two or more kinds of tools including the hemming roller to another tool. , A multi-purpose roller hemming device. (4) The multipurpose roller hemming device according to (3), wherein the two or more types of tools include a handling attachment for transporting a panel. (5) The multipurpose roller hemming device according to (3), wherein the two or more types of tools include a sealer coating device that coats a panel with a sealer. (6) The multipurpose roller hemming device according to (3), wherein the processing table is rotatable.

[0005]

In the above method (1), one roller hemming device is used for multiple purposes by exchanging the tool attached to the tip of the robot. Therefore, the equipment cost is reduced as compared with the case where the robot is provided for each purpose. Installation space is reduced. In the above method (2), the prehem processing and the main hem processing are
Since the stresses generated in the panel and the directions of deformation work in opposite directions and cancel each other out, the roller is sent in the same direction during pre-hem processing and main hem processing, so that the one end of the panel is lifted and deformed, which occurred during conventional hemming processing. Is suppressed. In the device of (3) above, since the tool changing device is provided, one robot can be used for multiple purposes by exchanging the tool attached to the tip of the robot. Compared to the case where the robot is provided for each purpose, the equipment cost can be reduced. Is reduced and the installation space is reduced. In the device of (4) above, since the tool includes the handling attachment, the panel can be carried in. In the device of (5) above, since the tool includes the sealer coating device, the present device can be used for coating the sealer on the peripheral portion of the panel. In the device of (6) above, since the processing table is rotatable, the processing position of the workpiece placed on the processing table can be brought closer to the robot by rotating the processing table, and the hemmable processing range is substantially reduced. Can be expanded.

[0006]

1-14 show a method and apparatus according to one embodiment of the present invention. First, the method of the embodiment of the present invention will be described with reference to FIGS. In the multipurpose roller hemming method of the embodiment of the present invention, the first, second, third, fourth and fifth steps are carried out in the order of the first, second, third, fourth and fifth steps. Method, of which the fifth step is a step that may be performed as necessary. In the first step, a handling attachment 3 for panel transportation (see FIG. 13) is attached to the tip of the industrial general-purpose robot 1 using the tool changing device 2, and the outer panel 4 is carried into the processing table 5 by the handling attachment 3. It is a process to do. The outer panel 4 is composed of, for example, an outer panel of a shell body for an automobile. The handling attachment 3 is
For example, using a suction cup type, the suction cup is pressed onto the panel to lift the panel from the panel mounting table 6, and the robot 1 is driven to place the panel on the processing table 5. The panel 4 placed on the processing table 5 is positioned by the positioning cylinder 7 and then clamped by the plate pressing clamp 8.

In the second step, the tool attached to the tip of the robot 1 is used to replace the handling attachment 3 with the sealer coating device 9 (also referred to as a sealer gun, see FIG. 14) by using the tool exchanging device 2, and the sealer gun 9 is used for the outer panel. A sealer (sealing agent) is applied to 4. The sealer gun 9 is connected to a sealant source through a hose, and a pump for sending the sealant and a valve for turning on and off the supply of the sealant are provided in the middle of the hose. The sealant seals between the hemming portion of the outer panel 4 and the inner panel. In the third step, the tool attached to the tip of the robot 1 is replaced with the handling attachment 3 from the sealer coating device 9 using the tool exchanging device 2, and the inner panel 10 is replaced with the panel mount 1.
From 1 to 1, it is placed and positioned on the outer panel 4 on the processing table 5. The same handling attachment as that for the outer panel may be used, or another handling attachment may be used.

In the fourth step, the tool attached to the tip of the robot 1 is replaced with the hemming roller 12 from the handling attachment 3 by using the tool exchanging device 2, and the outer panel 4 is subjected to pre-hemming (preliminary bending) and main hemming. (Hemming) and hemming. Before the prehem processing, the outer panel 4 has a shape in which an edge portion rises at a right angle with respect to a portion other than the edge portion, and in the prehem processing, the raised edge portion is diagonally inclined to a portion other than the edge portion by a hemming roller. It is bent by the hemming roller 12 and is pushed and bent by the hemming roller 12 so that the edge portion which is obliquely bent in the hemming is parallel to the portion other than the edge portion. The edge portion of the inner panel 10 is sandwiched between the bent edge portion and the unfolded portion of the outer panel 4. The sealant seals between the hemming portion of the outer panel 4 and the edge portion of the inner panel 10.

As shown in FIG. 3, the hemming roller 12
The feed direction (movement direction by the robot 1) of the pre-hem processing and the main hem processing are opposite to each other. In the conventional hemming process, the feeding direction of the hemming roller is the same in the prehem process and the main hem process.Therefore, the stress and deformation direction generated in the outer panel in the prehem process and the stress generated in the outer panel in the hem process and the deformation When the hemming process is performed, the directions become the same and the deformations are added to each other and visually recognizable. The deformation occurs between one end and the other end in the longitudinal direction of the hemming portion. However, as shown in FIG. 3, by reversing the feeding direction of the hemming roller 12 between the prehem processing and the main hem processing, the stress and deformation directions generated in the outer panel 4 during the prehem processing and the outer panel during the main hem processing. The stresses and deformations generated in No. 4 are opposite to each other and work in the direction of canceling each other, and the stresses and deformations are reduced.
This improves the shape accuracy and quality of the product.

In the fifth step, the tool attached to the tip of the robot 1 is used for the hemming roller 1 by using the tool changing device 2.
2 from the handling attachment 3 (the same as or different from the handling attachment in the first and third steps), and the hemmed panel assembly composed of the outer panel and the inner panel is carried out from the working table 5, Place on the panel stand 13.

Regarding the operation of the above roller hemming method, one robot 1 is used, and the tool mounted on the tip of the robot is replaced by the tool exchanging device 2 to perform hemming or other work such as work. Since the loading, unloading, sealer coating, etc. are performed in series,
Compared with the case where a robot is provided for each purpose, the equipment cost can be reduced and the installation space can be reduced. Further, there is no interference between the robot 1 and other devices or robots, and the movement of the robot tip during hemming is not limited by the other devices or robots. Therefore, the range in which hemming is possible is expanded. Further, in the hemming process, the feed direction of the hemming roller 12 is reversed between the prehem process and the main hemm process, so that the deformation of the panel occurring in the hemming process can be suppressed and the product accuracy can be improved.

Next, the apparatus of the embodiment of the present invention will be described with reference to FIGS.
This will be described with reference to FIG. As shown in FIG. 1, a multipurpose roller hemming device according to an embodiment of the present invention includes a robot 1 having a tip movable along a taught path, and a robot 1.
Hemming roller 12 that is replaceably attached to the tip of the
Two or more kinds of tools including a tool, a working table 5 on which a work including a panel to be hemmed by the hemming roller 12 is placed, and a tool attached to the tip of the robot 1 from one tool to another tool. Tool changer 2 to replace
Is equipped with.

Of the two or more types of tools, two of the hemming roller 12, the handling attachment 3 for loading and unloading the work, and the sealer coating device 9 (sealer gun) are used.
The above is included. In the above device, since the tool changing device 2 is provided, one robot 1 can be used for multiple purposes by exchanging the tool attached to the tip of the robot, and the equipment cost is lower than when a robot is provided for each purpose. The installation space is reduced. Further, since one robot 1 is used for multiple purposes, there is no interference between the robots that may occur when the robots are provided separately, and the operating range of one robot 1 can be made large. The hemming roller 12 is shown in FIG. 14, and has a pre-hem processing surface 14 that presses while rotating the flange of the outer panel during pre-hem processing, and a main hem processing surface that presses while rotating the france of the outer panel during main hem processing. 15
And a mounting portion 17 detachably held by a holding portion 16 for holding a tool attached to the arm tip of the robot 1.
And.

The handling attachment 3 is shown in FIG.
As shown in FIG.
And a hose 20 and a mounting portion 21. Sucker 19
When the work is adsorbed by, and the air is sent from the hose 20 into the suction cup, the work is removed from the suction cup 19. The mounting portion 21 has the same structure as the mounting portion 17 of the hemming roller 12, and is detachably mounted on the holding portion 16 of the robot 1 by the mounting portion 21. As shown in FIG. 14, the sheer gun 9 has a sheer gun main body 2
2, a sealer pump, a hose 23 to the valve, and a mounting portion 24. The mounting portion 24 is the hemming roller 12
It has the same structure as that of the mounting portion 17 and is detachably mounted to the holding portion 16 of the robot 1 by the mounting portion 21.

The processing table 5 is a table on which the outer panel 4 and the inner panel 10 are placed. As shown in FIG. 2, the processing table 5
On the other hand, a positioning cylinder 7 for positioning the work and a plate pressing clamp 8 for fixing the positioned work to the processing table 5 are provided. The hemming roller 12 is
The reference surface is pressed against the guide surface on the upper side surface of the processing table 5, and while being accurately positioned with respect to the processing table 5, the pre-hem processing surface 14 and the main hem processing surface 15 push the workpiece to perform hemming processing.

The tool changing device 2 has a structure and a function as shown in FIGS. Tools such as the hemming roller 12, the sealer gun 9 and the handling attachment 3 are placed on the tool stand 25. 4 to 10, the case of the hemming roller 12 is shown as a tool, but the same applies to other cases. A holding portion 16 is attached to the arm tip of the robot 1, and a tool attaching portion 17 is attached to the holding portion 16.
21, 24 are detachably attached. Robot 1
As shown in FIG. 4, when the tool is replaced, the holding portion 16 is brought to a position facing the tool and stopped. As shown in FIGS. 5 to 8, a stopper 26 movable up and down is stopped in the holding portion 16 while being pushed downward by a spring 27. Below the stopper 26, a stopper lifting claw 28 is provided.
Is provided and is raised by the cylinder 29. When the stopper lifting claw 28 is lifted, the stopper 26 is lifted. The tool stand 25 can be moved forward and backward by a cylinder 30. While the stopper 26 is being lifted, the tool stand 25 is moved forward by the cylinder 30 toward the robot holding part 16, and the tool mounting parts 17, 21 and 24 are put into the holding part 16 of the robot 1. This state is the state shown in FIG. Then, when the stopper lifting claw 28 is lowered by the cylinder 29, the stopper 26 is also lowered, the notches 31 of the tool mounting portions 17, 21, 24 are engaged with the parallel side portions 32 of the stopper 26, and the tool mounting portion The robots 17, 21 and 24 are fixed so as not to come off the holding portion 16 of the robot 1. This state is the state shown in FIG. Then, the robot 1 enters the prehem operation. This state is the state shown in FIG.

As shown in FIGS. 11 and 12, the processing table 5 may have a structure rotatable about a vertical axis.
For example, the turntable 33 is a heme type which is the processing table 5.
Alternatively, the turntable 33 may be rotatably supported by a bearing 34, and the rotation of the motor 35 may be transmitted to the turntable 33 by the engagement of the pinion gear 36 and the gear 37. Reference numeral 38 is a receiver for preventing the turntable 33 from tilting, and 39 is a stopper for stopping the rotation of the turntable 33 at a predetermined position. By making the processing table 5 rotatable, the hemming processing part of the workpiece shown in FIG. 3 can be brought closer to the robot 1, and the hemmable range of the robot 1 can be substantially expanded. The operation of the above apparatus is the same as or similar to the method of the present invention described above.

[0018]

According to the first aspect of the present invention, one roller hemming device is used for multiple purposes by exchanging the tool attached to the tip of the robot. Therefore, the equipment cost is reduced as compared with the case where the robot is installed for each purpose. Therefore, the installation space can be reduced. According to the second aspect, the stress generated in the panel and the direction of the deformation are opposite to each other by the prehem processing and the book bending processing, and they cancel each other, so that the deformation of the panel caused by the hemming processing is suppressed. According to the third aspect, since the tool changer is provided, the tool attached to the tip of the robot can be replaced, and one robot can be used for multiple purposes. Therefore, the equipment cost can be reduced as compared with the case where the robot is installed for each purpose. Therefore, the installation space can be reduced. According to claim 4,
Since the tool includes a handling attachment, panel loading can be mechanized. According to the fifth aspect, since the tool includes the sealer applicator, the application of the sealer to the panel can be mechanized. According to the sixth aspect, since the processing table is rotatable, the hemmable processing range can be expanded.

[Brief description of drawings]

FIG. 1 is a perspective view of an apparatus for performing a multipurpose roller hemming method according to an embodiment of the present invention.

FIG. 2 is a perspective view of the processing table and its vicinity in FIG.

FIG. 3 is a plan view of a work showing a feeding direction of a hemming roller in prehem processing and main hemm processing in FIG. 1.

FIG. 4 is a side view of the tool changer of FIG. 1 before the tool is attached to the robot.

5 is a side view of the tool changer of FIG. 4 during tool mounting on a robot.

FIG. 6 is a detailed view of a holding part for mounting a tool and its vicinity in FIG.

FIG. 7 is a front view of FIG.

FIG. 8 is an enlarged perspective view of a mounting portion of a tool.

9 is a side view of the tool changer of FIG. 4 after the tool is attached to the robot.

10 is a side view of the tool changer of FIG. 4 with the robot separated.

FIG. 11 is a cross-sectional view of the processing table when the processing table has a rotatable structure.

12 is a plan view of the processing table of FIG. 11. FIG.

FIG. 13 is a perspective view of a handling attachment.

FIG. 14 is a perspective view of a sealer coating device.

[Explanation of symbols]

 1 Robot 2 Tool Changer 3 Handling Attachment 4 Outer Panel 5 Processing Table 6 Panel Stand 7 Cylinder 8 Plate Pressing Clamp 9 Sealer Coating Device 10 Inner Panel 11 Panel Stand 12 Hemming Roller 13 Panel Stand 14 Prehem Finished Surface 15 Hemmed Surface 16 Holding Part 17 Mounting part 18 Attachment main body 19 Sucker 21 Mounting part 22 Sealer gun main body 23 Hose 24 Mounting part 25 Tool rest 26 Stopper 27 Spring 28 Stopper lifting claw 29 Cylinder 30 Cylinder 31 Notch 32 Parallel side 33 33 Turntable

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Hideyoshi Arakawa 1 Toyota-cho, Toyota-shi, Aichi Toyota Automobile Co., Ltd.

Claims (6)

[Claims] 1. A handling attachment for panel transportation is attached to a tip of a robot by using a tool changer,
The first step of bringing the outer panel into the processing table with the handling attachment, and the tool attached to the tip of the robot is used to replace the handling attachment with the sealer coating device using the tool changing device, and the sealer coating device is used to A second step of applying a sealer to the outer panel and a third step of replacing the tool mounted on the tip of the robot with the handling attachment from the sealer applying device using the tool exchanging device to convey and position the inner panel on the outer panel. And a fourth step of performing a hemming process consisting of a prehem process and a main heme process on the outer panel by replacing the handling attachment from the handling attachment to a hemming roller using the tool exchanging device for the tool attached to the tip of the robot,
A multi-purpose roller hemming method comprising: 2. The multipurpose roller hemming method according to claim 1, wherein the feeding directions of the hemming rollers in the prehem processing and the main hemm processing are opposite to each other in the fourth step. 3. A robot having a tip capable of moving along a taught path, two or more kinds of tools including a hemming roller, which are replaceably attached to the tip of the robot, and hemming is performed by the hemming roller. A work table on which a work including a panel to be applied is placed, and a tool exchange for exchanging a tool mounted on the tip of the robot from one of two or more kinds of tools including the hemming roller to another tool. A multi-purpose roller hemming device, comprising: 4. The multipurpose roller hemming device according to claim 3, wherein the two or more kinds of tools include a handling attachment for carrying a panel. 5. The multipurpose roller hemming device according to claim 3, wherein the two or more kinds of tools include a sealer applying device for applying a sealer to the panel. 6. The multipurpose roller hemming device according to claim 3, wherein the processing table is rotatable.