CN101360573B - Hemming working method and working apparatus - Google Patents

Abstract

The invention discloses an hemming working method and a hemming working apparatus. A moving die 18 is held by a robot 22 and made to approach a vehicle 12, and a positioning pin 62 is inserted into a positioning hole 65 of the vehicle 12. The moving die 18 is brought into a floating state of being displaceable relative to the vehicle 12 by reducing a force of the robot 22 for maintaining an attitude thereof. In a state of holding the moving die 18 by the robot 22, a surface 49a of the moving die 18 is brought into contact with the vehicle 12 by an adsorbing mechanism 58 including an adsorbing portion 67a of an elastic member provided to the moving die 18. The moving die 18 and the robot 22 are cut to be separated.

Description

Hemming processing method and hemming working apparatus

Technical field

The present invention relates to a kind of by using working roll to come the hemming processing method and the hemming working apparatus of the edge part of bending workpieces.

Background technology

Can carry out the flanging processing of flange that the edge part with slave plate erects to the edge part of hood, luggage case, door and the wheelhouse portions of automobile to the interior side direction bending of plate.As the processing of this flanging, can carry out the processing of roll-type flanging, wherein the plate location can be remained on the mould, and with bending flange when roll-in is on the flange at the place, end of this plate.In roll-type flanging processing,,, process through the operation in a plurality of stages of preparation bending (perhaps pre-flanging) and smart bending (perhaps regular flanging) so consider the precision of bending because angle bending is big.

As a kind of equipment that is used for roll-type flanging processing, proposed a kind ofly mould to be fixed to equipment (for example, referring to JP-A-06-297046) on the workpiece by clamp is set at its a plurality of parts place.

Preferably, it is consistent error freely with the shape of mould that the shape of this workpiece is formed, and when workpiece was the such panel material of door face board, hood, working position was few, and error is not easy to take place.But, when workpiece be by by weld that a plurality of board members construct as case structure of lean type etc. the time, because of sweating heat be easy to be distorted and may and mould between produce the gap.

Even when producing the gap between workpiece and the mould, be under the situation about constituting, when roller rolls with respect to board member, because this board member is temporarily crooked according to the shape of mould, so flanging adds Ministry of worker's energy by suitably bending by a board member at workpiece.

But, when workpiece is under the situation such as case structure, because rigidity is high and do not produce bending, thus can not operate effectively at this clearance portion position mould, and add Ministry of worker place at flanging and may produce contoured wrinkle.In addition, when the plus-pressure of excessive raising roller when eliminating the gap, can make the workpiece distortion.

Therefore, it an object of the present invention is to provide a kind of hemming processing method and process equipment, even can make workpiece contact with mould, will treat that the part of flanging is bent into suitable shape and can prevents also that when the shape of workpiece has error with respect to mould workpiece is distorted or is out of shape effectively.

In addition, as such flanging processing, there is scheme to propose a kind of method, it is on the set mould of special-purpose operation by workpiece being installed in private space, and the parts that remain on the manipulator front end are rolled along flange carry out flanging processing (for example, referring to JP-A-07-060370 and JP-B2-2924569).

Simultaneously, in current auto industry, expectation can be produced product and be made polytype vehicle simultaneously in the short time cycle, also expectation can be shortened flanging cycle process time by making roller have higher rolling speed in flanging processing, so that improve output and shorten circulation timei.

Yet, according to the method for describing among the JP-A-07-060370, only be controlled at the motion of the pressure roll of the roller that is configured for flanging processing in the flanging processing by the action of manipulator, especially in the preparation bending, for example, when the rolling speed that makes pressure roll is big, is difficult to regulate the pressure of posture and pressure roll, thereby may makes the excessive bending of flange quilt or be the problem that the fluctuating shape causes processing inefficacy.

In addition, according to the method for describing among the JP-B2-2924569, be used to guide the roller that carries out flanging processing to add the guide part of the direction in man-hour at flanging although provide, but owing to have only the groove of a guiding usefulness, so when preparing bending, must use different hemming roller, and need be used to exchange the extra time of roller with smart bending.And, when the rolling speed of the roller that is used for flanging was big, the motion track of manipulator and instruction track (channeling direction of gathering sill) moved to a considerable extent each other, and the friction between guide part and the gathering sill increases, according to circumstances, can consider guide part is leaned against on the gathering sill.In addition, coaxially and integratedly constitute owing to be used for the roller and the guide part of flanging, therefore when guide part leaned against on the gathering sill, the roller that is used for flanging floated from flange, and may cause processing serious failure.

In addition, according to the method for describing among the JP-B2-2924569, be used for coaxially and roll shaft that supporting integratedly is used for the roller of flanging and guide part is configured in the same time shift that keeps level by universal joint and moves down, and in the location before the flanging processing, can make guide part mobile downwards to be installed in the gathering sill place by the clamping cylinder under being used for roll shaft moved and move.But, in flanging processing, because roll shaft passes through to clamp the wrist of the pressure fixing of cylinder at manipulator, so by the friction that increases between guide part and the gathering sill guide part is leaned against on the gathering sill as mentioned above, the roller that is used for flanging upwards floats from flange, and may cause processing serious failure.

Therefore, an object of the present invention is to provide a kind of hemming processing method and hemming working apparatus, in flanging processing, it can make roller move along flange exactly with higher speed by backing roll flexibly.In addition, the purpose of this invention is to provide a kind of hemming processing method and hemming working apparatus, it can be before flanging processing, even as mentioned above in flanging processing in the structure of elasticity twelve Earthly Branches runner, promptly registration roller.

In addition, an object of the present invention is to provide a kind of hemming working apparatus, it can make roller move along flange exactly with bigger speed.

Add man-hour when carrying out flanging, the part of flange is advantageously holded up.Yet, according to the processing of the roll-type flanging of prior art, because roller is pressed to flange vertically carrying out bending in processing beginning portion, thus change in the stress and the shape at the boundary portion place of holding up part and bending part of flange, so may cause occurring fold.

Therefore, an object of the present invention is to provide a kind of hemming processing method and process equipment, it can realize gradually changing of shape and prevent fold, slight crack etc. by the bending angle of regulating flange according to part to be processed.

In addition, an object of the present invention is to provide a kind of hemming processing method and process equipment, it can make by suitable posture to move moulds and contact with workpiece.

In addition, a kind of situation is arranged, wherein board member such as vehicle doorn is by constituting in conjunction with inner panel and outside plate.When inner panel and outside plate were combined, the flanging that carries out bending by the flange to outside plate was processed and is clamped inner panel, afterwards, further guarantees bond strength by spot welding.

In order to carry out spot welding reliably, projection can be set on inner panel, flange can be made flange contact with the top of projection by bending, afterwards, by welding electrode can be carried out spot welding from the surface pressure of flange to projection.Therefore, electric current concentrates on the part of projection so that its fusion and improve welding pressure reliably.

In this case, when the process protrusions at the bending flange is overwhelmed by the back side of flange, reduce the effect that electric current is concentrated in spot welding, therefore needed a kind of method that when the bending flange, keeps projection.

For the projection that prevents board member etc. strikes the beam, there is scheme to propose a kind of method, make roller in groove and projection, roll (for example, referring to JP-Y2-2561596) by the hemming roller of using the surface to be in gel state.

In addition, in flanging processing, when with repeatedly step bending flange separately, can access preferably highly accurate bending part.The applicant has proposed a kind ofly to carry out the flanging method for processing by being divided at least twice in JP-A-2005-349471 etc.

Simultaneously, according to the hemming roller of describing among the JP-Y2-2561596, although the whole surface of this hemming roller is made of the gel member and can move along the recess and the protuberance of projection etc., because other parts are also via the pushing of gel member, so can't realize enough big pressure.In addition, because the repeated deformation above being positioned at projection etc. the time of gel member at every turn, so its service life is shorter, this is unpractical.

Therefore, an object of the present invention is to provide a kind of hemming roller, roll-type fold method and Welding Structure, wherein, described hemming roller can the bending flange and do not overwhelm the projection that is located on the board member, described Welding Structure welding by described method processing plate and make plate have higher intensity.

In addition, JP-Y2-2561596 has described a kind of hemming working apparatus, and it comprises the guide roller that is used to increase flanging pressure, and is provided with guide part, and described guide roller engages with the mould that workpiece is installed by guide part.

In addition, JP-B2-2579530 discloses a kind of technological thought, wherein, carries out flanging processing in the linear portion office of workpiece by working roll, and carries out flanging processing by place, the bight formation mould that has than small curvature radius at workpiece.

Simultaneously, the hood of aforesaid automobile, luggage case and door etc. generally include the bight that has than small curvature radius.

When processing above-mentioned bight, be necessary that guide part is and have than small curvature radius and along the shape of corner shape by the equipment of in JP-Y2-2561596, describing.Then, guide roller is difficult to move along the shape of the guide part that is located at the place, bight, may occur therefore, being difficult to working roll is moved along the shape of workpiece from guide part derailing or interlock guide part etc.

In addition,, be necessary to prepare a plurality of shaping dies, be used for flanging processing is carried out in the bight with different shape (type) of workpiece according to the method for JP-B2-2579530.Therefore, it causes the problem that universal performance is low and cost rises of equipment.

Therefore, an object of the present invention is to provide a kind of hemming processing method and hemming working apparatus, it can make working roll even move exactly along the bight with radius of curvature of workpiece etc.In addition, an object of the present invention is to provide a kind of hemming processing method and hemming working apparatus, described equipment has the high generality energy and can reduce cost.

Figure 107 A and 107B are the views that is used to illustrate according to the basic principle of the roll-type fold method of correlation technique.(for example, disclosing correlation technique among the JP-B-07-090299).Shown in Figure 107 A, roll-type flanging equipment 8100 constitutes by the bed die 8102 that is provided with guide surface 8101 with by manipulator 8103 rotatably mounted plain-barreled rolls 8104.

Outside plate 8107 with flange 8106 is installed on the bed die 8102, and inner panel 8108 is installed on the outside plate 8107.In addition, plain-barreled roll 8104 with rotation when guide surface 8101 aligns so that flange 8106 from the bending of dotted line indicating positions about 45 ° to the solid line indicating positions.This step is called as thick bending step or principal curvature step.

Next, shown in Figure 107 B, change the direction of plain-barreled roll 8104 by manipulator 8103.In addition, make the position of flange 8106 from the complete bending in position of dotted line indication to the solid line indication.This step is called as regular bending step or auxiliary bending step.

Figure 108 B is the view that is used to illustrate the existing problem of scrolling method of correlation technique.Shown in Figure 108 A, suppose that workpiece 8110 is hood, wherein, leading edge portion 8111 and rear edge portion 8112 are bent.After the principal curvature step, the leading section 8115 of flange 8113 is far away than the base portion 8114 range curvature centers 8116 of flange 8113.That is, when the radius of base portion 8114 is designated as R1, when the radius of leading section 8115 is designated as R2, R1＜R2.Therefore, the peripheral length of leading section 8115 is greater than the peripheral length of base portion 8114.

Similar peripheral length difference is present in guide surface 8120 places as shown in Figure 108 B equally.Radius when the edge (near the flexural center) 8121 of guide surface 8120 is designated as R3, when the radius at another edge 8122 is designated as R4, and R3＜R4.Therefore, the peripheral length at described another edge 8122 is greater than the peripheral length at a described edge 8121.

When plain-barreled roll 8123 fricton-tightly rotates with respect to a described edge 8121, between another edge 8122 and plain-barreled roll 8123, certainly lead to slip.Bed die 8124 with guide surface 8120 is made by hard steel, and same, plain-barreled roll 8123 is also made by hard steel.Therefore, at least one in guide surface 8120 and the plain-barreled roll 8123 is worn, and is difficult to proceed flanging processing.

Therefore, the method for JP-B-07-090299 can not be applied to the flanging processing to workpiece 8110, and in this workpiece 8110, leading edge portion 8111 and rear edge portion 8112 are bent.

Therefore, one object of the present invention is to provide a kind of roll-type flanging technology that is preferred for having the workpiece of curved edge portion.

Figure 109 is the view that is used to illustrate the essential structure of other correlation technique.Flanging equipment 9100 comprises: guiding cylinder 9103,9103, and it is arranged on supporting member 9102 places regularly, and described supporting member 9102 is connected the front end of manipulator 9101; Sliding axle 9104,9104, it is guided slidably to support by guiding cylinder 9103,9103; Slide block 9105,9105, it is fixed on the sliding axle 9104,9104; Cylinder 9106, it is connected on the slide block 9105,9105 and is arranged on regularly on the supporting member 9102; Hemming roller 9107, it passes through rotatably axially mounting of slide block 9105,9105; Guide roller 9108, it is by supporting member 9102 axially mountings; Guide rail 9111, it is used at preparation bending guiding guide roller 9108 and dips down tiltedly being located at bed die 9109; And guide rail 9112, it is used for being located at bed die 9109 at regular bending guiding guide roller 9108 and verticallydownwardly.

At first, guide roller 9108 engages with guide rail 9112 and is used for the rule bending.Therefore, hemming roller 9107 along continuous straight runs settings.Then, cylinder 9106 is retracted,, thereby be formed in the regular bending machining that the top of the end edge 9116 of epipleural 9115 clamps end edge 9114 bendings that are prepared 45 ° of the bendings in ground of lower side panel 9113 by operation.Therefore, lower side panel 9113 is connected with the edge of epipleural 9115.

Simultaneously, because guide roller 9108 is configured to have similar shapes with flanged the wheel, so when being used for the crooked guide rail 9112 of rule by sharp turn song certain angle or more during wide-angle, guide roller 9108 will derail.Therefore, the flanging equipment 9100 of the correlation technique of Figure 109 only can be applied in along on the crooked gradually end edge 9114 of the fore-and-aft direction in the accompanying drawing.

In addition, the sharp turn song also can be known as " larger radius of curvature ", and bending also can be known as " small curvature radius " gradually.Radius of curvature and radius are inversely proportional to.Workpiece such as the hood of vehicle comprise the bight with larger radius of curvature at its four angles.This workpiece can not be processed by flanging equipment 9100.

Figure 110 is the view that is used to illustrate the basic structure of other correlation technique.Flanging former 9200 comprises: anchor clamps 9203, and it is used to receive the outside plate 9202 that inner panel 9201 is installed; Joint motions formula manipulator 9205, it is installed on the transfer equipment 9204, and described transfer equipment 9204 is arranged on the side direction of anchor clamps 9203; Roller retainer 9207, it is connected the front end of the mechanical arm 9206 of joint motions formula manipulator 9205; Forming rolls 9208, it is connected the front end of roller retainer 9207; Mould driving arrangement 9209, it is separately positioned near four bights of anchor clamps 9203; And shaping dies 9211, it is connected on the mould driving arrangement 9209.

Yet, forming rolls 9208 is used for pressing to the linear segment with small curvature radius basically from upside, shaping dies 9211 is used to push and is shaped and has four bights of larger radius of curvature, is used for the bending part that outside plate 9202 is connected on the inner panel 9201 is finished flanging processing by bending.

That is, according to the flanging former 9200 of the correlation technique of Figure 110, the linear segment of workpiece is by forming rolls 9208 processing, and four bights of workpiece are by shaping dies 9211 processing.Owing to need four shaping dies 9211, so flanging former 9200 is very expensive.As mentioned above,, be difficult to the part with larger radius of curvature is carried out flanging processing, and according to the correlation technique of Figure 110, although can carry out flanging processing to the part with deep camber, flanging equipment is very expensive according to the correlation technique of Figure 109.

Therefore, an object of the present invention is to provide a kind of roll-type flanging equipment, it can carry out flanging processing and cheap to the part with larger radius of curvature.

Summary of the invention

According to one or more embodiments of the present invention, provide a kind of by the hemming processing method that moves moulds and roller is clamped workpiece and the flange that is positioned at described workpiece end place carried out flanging processing, described hemming processing method comprises: near step, keep described by conveyer and move moulds and make described moving moulds near described workpiece; The step of floating makes described the moving moulds can be with respect to described workpiece shift by reducing power that described conveyer is used to keep its posture; And contact procedure, keeping by the erecting device that is located at the described place of moving moulds the described surface that moves moulds being contacted with described workpiece under the described state that moves moulds by described conveyer.

Moving moulds can be shifted and make by this way to move moulds in the step of floating contacts with workpiece by erecting device by making, reduced the rigidity of the movable part of conveyer, so movable part suitably is out of shape, and makes to move moulds and contact the suitable posture that cooperates with surface configuration to set up with workpiece.

In addition, by branch be arranged conveyer and erecting device, just can realize near step with big speed by telecontrol equipment being set for bigger output, and can be by setting erecting device for less output so that prevent that in contact procedure workpiece from deforming.

According to one or more embodiments of the present invention, a kind of hemming working apparatus is provided, comprising: move moulds and roller, it is used to clamp workpiece and the flange that is positioned at described workpiece end place is carried out flanging processing; Conveyer, it is used to make described moving moulds near described workpiece; Adjusting device, when described conveyer makes described moving moulds when the described workpiece, described adjusting device is used to reduce to keep the power of posture; And erecting device, it is located at the described place that moves moulds, and is keeping under the described state that moves moulds by described conveyer, and described erecting device is used to make the described surface that moves moulds to contact with described workpiece.

Like this, according to the confining force adjusting device, when moving moulds, because conveyer is used to keep the power of posture to reduce, so the rigidity of the movable part of conveyer reduces near workpiece.Therefore, when being installed on the workpiece when moving moulds by erecting device, making moves moulds contacts with workpiece when being displaced to the suitable posture of setting up with the surface configuration cooperation.

According to the hemming processing method and the process equipment of one or more embodiments of the present invention, make conveyer be in floating type state and make to move moulds and to be shifted, and then make to move moulds and contact with workpiece by erecting device.At this moment, owing to reduced the rigidity of the movable part of conveyer,, and make to move moulds and when being moved to the suitable posture of setting up with the surface configuration cooperation, contact with workpiece so movable part suitably is out of shape.Therefore, moving moulds can excessively not push workpiece under unjustified state, thereby can prevent that workpiece from deforming.

In addition, by branch be arranged conveyer and erecting device, just can realize near step with big speed, and can prevent that in contact procedure workpiece from deforming by erecting device being set for less output by conveyer being set for bigger output.

In addition, according to moving moulds of can being transported, it is widely used and irrelevant with the size of workpiece.In addition, also can be applied on the production line, therefore not need to be provided with the private space of the flanging processing usefulness of separating with production line owing to move moulds.

According to one or more embodiments of the present invention, at a kind of hemming processing method of clamping workpiece and the flange that is arranged in described workpiece end place being carried out flanging processing by mould and roller, described mould is flexibly pressed to described workpiece, described mould can be contacted with described workpiece at the part place that is pushed described workpiece by described roller, and described mould is located and can be separated with described workpiece beyond the processing part of described workpiece.

In addition,, provide a kind of flanging equipment, having comprised according to one or more embodiments of the present invention: mould and roller, it is used to clamp workpiece and the flange that is positioned at described workpiece end place is carried out flanging processing; And elastic component, it is located between described mould and the described workpiece and can extends along the compression aspect of described roller and shorten.

Like this, by mould elasticity is pressed to workpiece, the part that is only pushed by roller of workpiece can contact with mould, and other part workpiece energy and mold separation outside the pushing part, thereby workpiece can contact with mould securely at pushing part place, flanging portion can be bent into suitable shape, and can prevent distortion or distortion.

According to the hemming processing method and the process equipment of one or more embodiments of the present invention, immediately when the shape of workpiece has error with respect to mould, at the part place by the roller pushing, workpiece contacts with mould and flanging portion is processed is bent into suitable shape.In addition,, make mould other parts outside the pushing of workpiece part separate, thereby can prevent that the gap is forced to overwhelm and can prevent that workpiece is distorted or is out of shape with workpiece by mould elasticity is pressed to workpiece.

According to one or more embodiments of the present invention, provide a kind of by using hemming roller the flange of workpiece to be carried out the hemming processing method of flanging processing, described hemming roller can be supported by travel mechanism with being shifted, wherein, when making described hemming roller by described travel mechanism, limit of the displacement of described hemming roller with respect to described travel mechanism near described workpiece; And in described flanging processing, described hemming roller can be shifted with respect to described travel mechanism.

Like this, when making hemming roller, be out of shape with respect to travel mechanism, can under the state that does not make hemming roller swing or barreling, position exactly and apace by the restriction hemming roller near workpiece.In addition, in flanging processing, can be shifted, hemming roller is moved with higher speed and the degree of accuracy flange along workpiece with respect to travel mechanism by making hemming roller.

In addition, the preferred reception roller clamping described workpiece and can support with being shifted together with described hemming roller of being used for by described travel mechanism, wherein, when making described hemming roller, limit the displacement of described hemming roller and described reception roller with respect to described travel mechanism near described workpiece; And in described flanging processing, be under the state of predetermined value, described hemming roller and described reception roller can be shifted with respect to described travel mechanism keeping pressure or distance between described hemming roller and the described reception roller.

Therefore, the location when making hemming roller near workpiece can be accurate more and quick.In addition, in flanging processing, can make hemming roller move and can make flanging processing more even along the flange of workpiece with higher speed and the degree of accuracy.

According to one or more embodiments of the present invention, a kind of hemming working apparatus is provided, comprising: hemming roller, it is used for the flange of workpiece is carried out flanging processing; Receive roller, it is used for clamping described workpiece together with described hemming roller; Folding cell, it comprises and is used to make described hemming roller and the closer to each other and movable agency away from each other of described reception roller; Travel mechanism, it is used to support described folding cell and described folding cell is moved to the precalculated position; And floating type mechanism, it is used for described folding cell can be connected to described travel mechanism with being shifted.

Like this, folding cell can be connected in the travel mechanism with being shifted, hemming roller is moved along flange with the higher speed and the degree of accuracy by using floating type mechanism.

In addition, when the restraint device that can be shifted with respect to described travel mechanism by the described folding cell of described floating type mechanics limit is set, can limit the action of floating type mechanism according to operating procedure.

In addition, can construct a kind of structure, wherein, travel mechanism comprises: base portion, and it is connected in the described travel mechanism via described floating type mechanism; And movable part, it can be along make described hemming roller and described reception roller direction closer to each other and away from each other be shifted described hemming roller and described reception roller with respect to described base portion; Described restraint device comprises: first sticking department that is located at described movable part place; And second sticking department that is located at described travel mechanism place and engages with described first sticking department.

By constructing this structure, can by simpler structure to floating type mechanism use and restriction is controlled, and can access simplification and low-cost device.

According to one or more embodiments of the present invention, roller is moved with higher speed and the degree of accuracy flange along workpiece, and then can shorten flanging cycle process time and avoid the processing failure.In addition, according to the present invention, in the flanging first being processed, the roller that is used for flanging processing can navigate to workpiece apace, thereby can shorten circulation timei.

According to one or more embodiments of the present invention, a kind of hemming working apparatus that is used for the flange of workpiece is carried out the hemming roller of flanging processing that comprises is provided, described hemming working apparatus comprises: travel mechanism, and it is used to support described hemming roller and described hemming roller is moved to the precalculated position; And ways, it guides described hemming roller along described flange in described hemming roller when the direction of the rotating shaft of described hemming roller is restricted with respect to the displacement of described flange.Described hemming roller is configured to can be shifted along the direction of the described rotating shaft of described hemming roller with respect to described travel mechanism.

Like this, in flanging processing,, hemming roller is moved along flange with the higher speed and the degree of accuracy by the direction of hemming roller along its rotating shaft can be arranged in the travel mechanism with being shifted.

According to one or more embodiments of the present invention,, can shorten flanging cycle process time and avoid the processing failure because roller is moved along flange with the higher speed and the degree of accuracy.

According to one or more embodiments of the present invention, a kind of by roller in the hemming processing method of the flange of the described workpiece of interior side direction bending of workpiece, described roller rolls along described bearing of trend in the direction superior displacement vertical with the bearing of trend of described flange.Like this, roll when making roller, can regulate the angle of bending flange, shape is slowly changed and can prevent that fold or crack from occurring according to part to be processed along the direction vertical displacement with the flange bearing of trend.

In addition, according to one or more embodiments of the present invention, provide a kind of by the hemming working apparatus of roller along the flange of the described workpiece of interior side direction bending of workpiece, described hemming working apparatus comprises: distance limit portion, its direction of erectting along described flange outstanding and with described roller side contacts outside the end of described workpiece.Described distance limit portion comprises the inclined plane, and the height on described inclined plane changes along described bearing of trend.

Like this, the distance limit device that has the inclined plane by setting, the height on this inclined plane changes along the bearing of trend of flange, can be used to push the pressure size of flange according to part restrict rollers to be processed, can regulate the bending angle of flange, shape is changed gradually and can prevent fold or the crack occurs.

In addition, according to one or more embodiments of the present invention, provide a kind of by the hemming working apparatus of roller along the flange of the described workpiece of interior side direction bending of workpiece, described hemming working apparatus comprises: the guide part that is used to guide described roller.Described guide part comprises: parallel portion, and it is parallel to described flange and extends; And separation portion, its be used for the flanging of described flange processing start-up portion with (or) flanging machines the part place by separating along lateral direction recently making described workpiece with described parallel portion, described roller moved closer to or away from described flange.

Like this, by being arranged to, separates guide part with the workpiece lateral direction, can be used to push the pressure size of flange according to part restrict rollers to be processed, can regulate the bending angle of flange, shape is changed gradually and can prevent fold or the crack occurs.

According to the hemming processing method and the process equipment of one or more embodiments of the present invention,, can realize that shape changes more lentamente and can prevent that fold or crack from occurring by regulate the bending angle of flange according to part to be processed.

According to one or more embodiments of the present invention, provide a kind of by using hemming roller to make the flange bending of outside plate and clamping the roll-type fold method of lobed inner panel, described hemming roller comprise coaxial each other and first cylinder and second cylinder that diameter is identical and be located at described first cylinder and described second cylinder between annular recess, described roll-type fold method comprises: the step that the first direction that described hemming roller is extended along described flange rolls, by making described first cylinder and the end of described flange outside contact and push and make described second cylinder to contact and push with the base portion of described flange outside, described annular recess passes through above described projection; And the step that described hemming roller is rolled along the second direction that intersects with described first direction, contacting and push with described flange with described second cylinder by making described first cylinder, described annular recess passes through above described projection.

Like this, in the process of the first direction rolling hemming roller of extending along flange, when make annular recess be positioned at above the projection on the flange of folding to be curved by the time, projection can not strike the beam.In addition, when make hemming roller along and first direction second direction when rolling of intersecting, annular recess also passes through from the top of projection at this moment, and is the center remains the hollow protuberance on first direction part pushing above the flange with the projection.Therefore, to become the projection with inner panel be the projection of the layering at center to flange.The projection of described layering is less projection, and it does not comprise hollow bulb basically, after spot welding in electric current can be collected on the projection of described layering.

In addition,, provide a kind of hemming roller, having comprised according to one or more embodiments of the present invention: first cylinder, it is used to push the end of flange outside; Second cylinder, it is coaxial with described first cylinder and have the diameter identical with the diameter of described first cylinder, and described second cylinder is used to push the base portion of described flange outside; And annular recess, it is located between described first cylinder and described second cylinder.This hemming roller is preferred for above-mentioned roll-type fold method, and can not overwhelm the projection of inner panel.In addition, rolling along be made of the different directions of two of intersection projection by making hemming roller, is that the hollow protuberance of the flange at center almost is eliminated with the projection, after spot welding in electric current can gather thereon.

In this case, the cross section of described annular recess can be configured to circular shape.According to the cross section of this circular shape, be difficult to because boundary portion between the annular recess and first cylinder and the boundary portion between the annular recess and second cylinder and on flange, stay the extruding vestige.

In addition, form a kind of according to Welding Structure of the present invention by following steps: use hemming roller, described hemming roller to comprise coaxial each other and first cylinder and second cylinder that diameter is identical and be located at described first cylinder and described second cylinder between annular recess; Clamp lobed inner panel by the flange of bending outside plate; By described hemming roller being rolled forming with described projection is the projection of the layering at center, and described annular recess passes through above described projection along two different directions that constitute intersection by described projection; And, welding electrode carries out spot welding by being contacted with the projection of described layering.According to Welding Structure, when carrying out spot welding, flowing between the projection of layering two-layer in the electric current concentrated area, makes the fusion reliably of stratification projection by producing enough heats, and obtain bigger weld strength.

According to the roll-type fold method of one or more embodiments of the present invention, when along first direction rolling hemming roller that flange extends, because annular recess is passed through above the projection that is positioned on the flange of folding to be curved, so projection can not strike the beam.In addition, because hemming roller edge and the second direction that first direction intersects are rolled once more, simultaneously, annular recess also passes through above projection, is the center remains the hollow protuberance on first direction part pushing on the flange with the projection therefore.Therefore, flange becomes the projection of less layering, and wherein, the projection that does not comprise basically with inner panel is the hollow bulb at center, after spot welding in electric current can be collected on the projection of described layering.

In addition, the hemming roller of one or more embodiments according to the present invention, described hemming roller are preferred for the roll-type fold method and can not overwhelm the projection of inner panel.In addition, by making hemming roller along two different direction rollings that constitute intersection by described projection, making with the projection is that the hollow protuberance that is positioned at the protuberance office at center almost is removed, thereby forms the projection of layering, and after spot welding in electric current can be collected on the projection of layering.

In addition, according to the hemming roller of one or more embodiments of the present invention, when carrying out spot welding, flowing between the projection of layering two-layer in the electric current concentrated area, makes the projection fusion reliably of layering by producing enough heats, and obtain bigger weld strength.

According to one or more embodiments of the present invention, the hemming processing method that provides a kind of working roll that is movably supported by mobile device by use that the edge part of workpiece is carried out flanging processing, described hemming processing method are included in and make the step of working roll along its rotating shaft direction displacement in the flanging processing.

According to this hemming processing method, when having error between the track of the shape of the edge part of workpiece and mobile working roll, be shifted vertically immediately by making working roll, working roll can be exactly moves along the edge part of workpiece.Especially, according to the present invention, the present invention is applicable to the part with radius of curvature that is easy to increase in the edge part place of workpiece error (for example bight of workpiece or edge part with meander-shaped) is processed.

In addition, according to one or more embodiments of the present invention, provide a kind of by using working roll and guide roller the edge part of workpiece to be carried out the hemming processing method of flanging processing, described working roll is movably supported by mobile device, described guide roller is arranged to clamp described workpiece opposed to each other with described working roll, wherein, described hemming processing method comprises, the step that the rotating direction of described working roll and described guide roller is relative to each other changed.

According to hemming processing method, even when be difficult to be provided with guide roller along the edge part of workpiece for example the bight of workpiece move track the time, by relatively changing the rotating direction of working roll and guide roller, also can under working roll is independent of the state of guide roller, guide roller be moved exactly along the edge part of workpiece.

According to one or more embodiments of the present invention, a kind of flanging equipment is provided, comprising: working roll, it is used for the edge part of workpiece is carried out flanging processing; Guide roller, it is arranged to clamp described workpiece opposed to each other with described working roll; Mould, it is located between described working roll and the described guide roller, and described workpiece is installed on surface thereof, is provided with the guide part that is used to guide described guide roller on its back side; Mobile device, it is used for movably supporting described working roll and described guide roller; And shift unit, it is used for by being made of described guide part with reference to described working roll and described guide roller relative to each other are shifted.

According to described equipment, even when being difficult to be provided with guide roller along the edge part of workpiece for example during the guide part in the bight with radius of curvature etc. of workpiece, can by shift unit change with guide part as a reference working roll and the relative position of guide roller process.Therefore, working roll is moved exactly along the edge part of workpiece.

In addition,, provide a kind of hemming working apparatus, having comprised according to one or more embodiments of the present invention: working roll, it is used for the edge part of workpiece is carried out flanging processing; Guide roller, it is arranged to clamp described workpiece opposed to each other with described working roll; Mould, it is located between described working roll and the described guide roller, and described workpiece is installed on surface thereof, is provided with the guide part that is used to guide described guide roller on its back side; Mobile device, it is used for movably supporting described working roll and described guide roller; And the direction modifier, it is used to change the direction that described working roll and described guide roller relative to each other roll.

According to described equipment, even when being difficult to be provided with guide roller along the edge part of workpiece for example during the guide part in bight etc., the rotating direction that relatively changes working roll and guide roller by the direction modifier can be processed.Therefore, the edge part along workpiece moves being independent of under the state of guide roller exactly can to make working roll.

According to the present invention, immediately when the shape of the edge part of for example workpiece and be used to process when having error between the track that edge part moves working roll, be shifted vertically by making working roll and guide roller, working roll can be exactly moves along the edge part of workpiece.In addition, according to the present invention, even when being difficult to be provided with guide roller for example along the guide part of the edge part of workpiece, by relatively changing the rotating direction of working roll and guide roller, the edge part along workpiece moves under the state of guide roller being independent of can to make working roll.

Therefore, can prevent reliably that guide roller from derailing from guide part,, and working roll be moved exactly along the shape of the edge part of workpiece perhaps with guide part interlock etc.In addition, the linear segment of workpiece and flanging processing with bight etc. of radius of curvature can be undertaken by the hemming working apparatus of one, thereby can improve the universal performance of equipment and can reduce cost.

According to one or more embodiments of the present invention, a kind of flanging working roll that is used for flanging processing is provided, the flange that bending is erect at the workpiece place in described flanging processing, described flanging working roll comprises: principal curvature face, it is for being inclined to the conical surface of first angle with respect to the roller rotating shaft; And auxiliary flexure plane, it is for being inclined to the conical surface of second angle with respect to described roller rotating shaft; Wherein, described flanging working roll is used for the two procedures of flanging processing, and this two procedures is respectively to make the only about half of of the total angle of bend of described flanges flex and make described flange crooked fully by described auxiliary flexure plane by described principal curvature face.

The flanging working roll is preferred for the workpiece of edge part bending, comprises principal curvature face that is the conical surface and the auxiliary flexure plane that is the conical surface.When carrying out principal curvature, can make auxiliary flexure plane consistent with guide roller by principal curvature face.At this moment, owing between auxiliary flexure plane and guide part, do not have peripheral speed difference, can not produce defective or wearing and tearing at auxiliary flexure plane or guide part.

According to one or more embodiments of the present invention, a kind of roll-type flanging equipment that is used for flanging processing is provided, the flange that bending is erect at the workpiece place in described flanging processing, described roll-type flanging equipment comprises: the workpiece installation component, it is used to install described workpiece; The flanging working roll, it has principal curvature face and auxiliary flexure plane, and described principal curvature face comprises the conical surface that is inclined to first angle with respect to the roller rotating shaft, and described auxiliary flexure plane comprises the conical surface that is inclined to second angle with respect to described roller rotating shaft; Roller travel mechanism, it is used to make described flanging working roll to move along described flange and with respect to described workpiece; And guide part, when described flange was crooked by described principal curvature face, described guide part was used to guide described auxiliary flexure plane.

Described roll-type flanging equipment is preferred for the workpiece of edge part bending, and comprises the flanging working roll, and described flanging working roll comprises the principal curvature face that is the conical surface and is the auxiliary flexure plane of the conical surface.When carrying out principal curvature, can make auxiliary flexure plane consistent with guide roller by principal curvature face.At this moment, owing between auxiliary flexure plane and guide part, do not have peripheral speed difference, can not produce defective or wearing and tearing at auxiliary flexure plane or guide part.

According to one or more embodiments of the present invention, provide a kind of by the roll-type hemming processing method of roller bending at the flange of workpiece place setting, described roll-type hemming processing method comprises: preparation process, prepare flanging working roll and guide part, described flanging working roll has principal curvature face and auxiliary flexure plane, described principal curvature face comprises the conical surface that is inclined to first angle with respect to the roller rotating shaft, described auxiliary flexure plane comprises the conical surface that is inclined to second angle with respect to described roller rotating shaft, when described flange was crooked by described principal curvature face, described guide part was used to guide described auxiliary flexure plane; The principal curvature step, when making described auxiliary flexure plane and described guide part be consistent by described principal curvature face only about half of with the total angle of bend of described flanges flex flange; With auxiliary bending step, make described flange crooked fully by described auxiliary flexure plane.

Described roll-type fold method is preferred for the workpiece of edge part bending, and carries out flanging processing by having principal curvature face that is the conical surface and the flanging working roll that is the auxiliary flexure plane of the conical surface.When carrying out principal curvature, can make auxiliary flexure plane consistent with guide roller by principal curvature face.At this moment, owing between auxiliary flexure plane and guide part, do not have peripheral speed difference, can not produce defective or wearing and tearing at auxiliary flexure plane or guide part.

According to one or more embodiments of the present invention, provide a kind of roll-type flanging equipment of the flange of erectting by following step bending: prepare mould, pressure roll and ways, has gathering sill below the described mould, described pressure roll is independent of described mould and moves, and described ways can be advanced and returns from described pressure roll towards described pressure roll; With board member be installed in described mould above, described board member has the flange of described setting in edge; Described ways is engaged in the described gathering sill; And use described pressure roll processing to be in the described flange of upright state, wherein, described ways comprises the spherical component that rolls along described gathering sill.

Ways comprises the spherical component that rolls along gathering sill.Spheroid does not separate with the gathering sill that has than larger radius of curvature.Therefore, can provide a kind of roll-type flanging equipment, it can carry out flanging processing to having than the part of larger radius of curvature, and cheap.

In addition, because roll-type flanging equipment is the simple equipment that is made of the mould that comprises gathering sill, pressure roll and ways, so can easily obtain roll-type flanging equipment cheaply.

By following description, accompanying drawing and claims, it is clear that other aspects and advantages of the present invention will become.

Description of drawings

Fig. 1 is the perspective view according to the hemming working apparatus of first illustrative embodiments.

Fig. 2 is provided in a side of the perspective view according to the folding cell at the front end place of the manipulator of the hemming working apparatus of first illustrative embodiments.

Fig. 3 is the perspective view that moves moulds that is fixed on the wheel cover arch.

Fig. 4 is the perspective view that moves moulds when face side is observed.

Fig. 5 is the sectional view of adsorbing mechanism.

Fig. 6 is when in the first flanging step folding cell being arranged on the end of flange, flange, folding cell and the sectional view that moves moulds.

Thereby Fig. 7 illustrates by making the wheel cover arch that moves moulds and be distorted contact the schematic plan view of the state that forms the gap.

Fig. 8 is to use according to the flow chart of the operation of the hemming processing method of the hemming working apparatus of first illustrative embodiments (part 1).

Fig. 9 is to use according to the flow chart of the operation of the hemming processing method of the hemming working apparatus of first illustrative embodiments (part 2).

Figure 10 A is the front section view of wheel cover arch, wherein, shows that making moves moulds and move and the alignment pin that moves moulds is inserted into the state in the locating hole of vehicle.

Figure 10 B is the front section view of wheel cover arch, wherein, shows that further propelling moves moulds so that the slight state of contact in surface of itself and wheel cover arch.

Figure 10 C is the front section view of wheel cover arch, wherein, shows and make move moulds surface and surface, wheel cover arch state of contact in the adsorption section of elastic compression clamping part.

Figure 11 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the first flanging step.

Figure 12 is the cutaway view of hemming roller, guide roller, flange and the position that moves moulds in the second flanging step.

Figure 13 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the second flanging step.

Figure 14 is to use the flow chart according to the operation of the hemming processing method of the hemming working apparatus of an improved example of first illustrative embodiments.

Figure 15 illustrates to make to move moulds by adsorbing mechanism to be adsorbed on the schematic plan view of the state on the wheel cover arch.

Figure 16 is the schematic cross sectional views along the state of an end of first groove processing flange.

Figure 17 is the schematic plan view that the state that an end to flange processes is shown.

Figure 18 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the first flanging step.

Figure 19 is the perspective schematic view along the state of the mid portion of first groove processing flange.

Figure 20 is the schematic plan view that the state that the mid portion of flange is processed is shown.

Figure 21 is the schematic cross sectional views along the state of the other end of first groove processing flange.

Figure 22 is the schematic plan view of the other end of processing flange.

Figure 23 illustrates hemming roller, guide roller, flange in the second flanging step and the cutaway view of the position that moves moulds.

Figure 24 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the second flanging step.

Figure 25 will have the perspective view that moving moulds of clamp mechanism is fixed to the state on the wheel cover arch.

Figure 26 is used to illustrate by the flange of the wheel cover arch of vehicle being carried out the outline perspective view of the action of flanging processing according to the hemming working apparatus of second illustrative embodiments.

Figure 27 is provided in a side of the perspective view according to the folding cell at the front end place of the manipulator of the hemming working apparatus of second illustrative embodiments.

Figure 28 is the perspective view according to the folding cell of second illustrative embodiments.

Figure 29 is the partial cutaway side figure of the folding cell before the processing of expression flanging.

Figure 30 is the partial cutaway side figure that the expression flanging adds the folding cell in man-hour.

Figure 31 is the perspective view that moves moulds that is fixed on the wheel cover arch.

Figure 32 is the amplification view of observing from the arrow mark VII-VII shown in Figure 31.

Figure 33 is to use the flow chart according to the operation of the hemming processing method of the hemming working apparatus of second illustrative embodiments.

Figure 34 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the first flanging step.

Figure 35 illustrates hemming roller, guide roller, flange in the second flanging step and the cutaway view of the position that moves moulds.

Figure 36 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the second flanging step.

Figure 37 is the perspective view according to the hemming working apparatus of the 3rd illustrative embodiments.

Figure 38 is provided in a side of the cutaway view according to the folding cell at the front end place of the manipulator of the hemming working apparatus of the 3rd illustrative embodiments.

Figure 39 is the cutaway view that moves moulds that is fixed on the wheel cover arch.

Figure 40 is the cutaway view that moves moulds when face side is observed.

Figure 41 is the side sectional view of adsorbing mechanism.

Figure 42 is when folding cell in the first flanging step is located at the place, end of flange, flange, folding cell and the side sectional view that moves moulds.

Figure 43 is to use according to the flow chart of the operation of the hemming processing method of the hemming working apparatus of the 3rd illustrative embodiments (part 1).

Figure 44 is to use according to the flow chart of the operation of the hemming processing method of the hemming working apparatus of the 3rd illustrative embodiments (part 2).

Figure 45 is when folding cell in the first flanging step is located at the position at the place, end of leaving flange slightly, flange, folding cell and the side sectional view that moves moulds.

Figure 46 is when folding cell is located at the mid portion of flange in the first flanging step, flange, folding cell and the side sectional view that moves moulds.

Figure 47 is the fragmentary side cross-sectional view of wheel cover arch, hemming roller and the guide roller of vehicle in the first flanging step.

Figure 48 is when folding cell is located at the end of flange in the second flanging step, flange, folding cell and the side sectional view that moves moulds.

Figure 49 is when folding cell in the second flanging step is located at the position at the place, end of leaving flange slightly, flange, folding cell and the side sectional view that moves moulds.

Figure 50 is when folding cell is located at the mid portion of flange in the second flanging step, flange, folding cell and the side sectional view that moves moulds.

Figure 51 is the broken section perspective view of wheel cover arch, hemming roller and the guide roller of vehicle in the second flanging step.

Figure 52 is according to the perspective view that moves moulds that is fixed to an improved example on the wheel cover arch.

Figure 53 is under the situation about moving moulds of use according to an improved example of the 3rd illustrative embodiments, when folding cell is located at the end of flange in the first flanging step, and flange, folding cell and the side sectional view that moves moulds.

Figure 54 is under the situation about moving moulds of use according to an improved example of the 3rd illustrative embodiments, when first folding cell is located at the position at the place, end of leaving flange slightly, and flange, folding cell and the cutaway view that moves moulds.

Figure 55 is the contour structure figure according to the roll-type hemming working apparatus of the 4th illustrative embodiments.

Figure 56 is the perspective view with machining tool of hemming roller.

Figure 57 is the front view of hemming roller.

Figure 58 is the flow chart according to the operation of the roll-type fold method of the 4th illustrative embodiments.

Figure 59 is the broken section perspective view of workpiece and machining tool in the roll-type flanging processing first.

Figure 60 is the side sectional view of workpiece and machining tool in the roll-type flanging for the second time.

Figure 61 is the broken section perspective view at second time workpiece and machining tool during the roll-type flanging.

Figure 62 be projection and with projection be in the front section view of the protuberance that is formed centrally.

Figure 63 is the front section view of workpiece and machining tool in the step of the projection that forms layering by the hollow bulb that overwhelms protuberance.

Figure 64 is the broken section perspective view of workpiece and machining tool in the step of the projection that forms layering by the hollow bulb that overwhelms protuberance.

Figure 65 is the enlarged perspective of the projection of layering.

Figure 66 is the side sectional view of workpiece and machining tool in spot welding step.

Figure 67 is the broken section perspective view of workpiece and machining tool in spot welding step.

Figure 68 is the welded side sectional view that provides by spot welding.

Figure 69 is according to the hemming roller of improved first example of the 4th illustrative embodiments and the side view of workpiece.

Figure 70 is according to the hemming roller of improved second example of the 4th illustrative embodiments and the side view of workpiece.

Figure 71 is used to illustrate by the edge part of workpiece being carried out the perspective view of the action of flanging processing according to the hemming working apparatus of the 5th illustrative embodiments of the present invention.

Figure 72 is the local amplification view that the corner periphery that is bearing in the workpiece on the mould is shown.

Figure 73 is provided in a side of the perspective view of folding cell at front end place of the manipulator of hemming working apparatus shown in Figure 71.

Figure 74 is the perspective view of the structure of folding cell shown in Figure 73.

Figure 75 is the fragmentary side cross-sectional view at the state of the flanging first being processed of folding cell shown in Figure 73.

Figure 76 is the fragmentary side cross-sectional view of the state in the flanging processing of folding cell shown in Figure 73.

Figure 77 is to use the flow chart according to the operation of the hemming processing method of the hemming working apparatus of the 5th illustrative embodiments.

Figure 78 A is used to illustrate the explanatory that by folding cell shown in Figure 73 the center, bight of workpiece is begun to carry out the state of flanging processing.

Figure 78 B is used to illustrate after finishing the processing of flanging shown in Figure 78 A along the explanatory that oppositely begins the center, bight of workpiece is carried out the state of flanging processing once more.

Figure 79 is the fragmentary side cross-sectional view that the state that rotates by the locking of the locking mechanism in the folding cell shown in Figure 73 guide roller is shown.

Figure 80 is the fragmentary side cross-sectional view to the state of the locking mechanism release in the folding cell shown in Figure 73.

Figure 81 is used to illustrate by using folding cell shown in Figure 73 the edge part of workpiece to be carried out the broken section perspective view of the state of the first flanging step.

Figure 82 is used to illustrate by using folding cell shown in Figure 73 the edge part of workpiece to be carried out the fragmentary side cross-sectional view of the state of the second flanging step.

Figure 83 is the fragmentary side cross-sectional view of an improved example of origin position gigback that is provided for the guide roller of the folding cell shown in Figure 73.

Figure 84 is the explanatory along an improved example of the turning cylinder of the guide roller of folding cell shown in bottom direction skew Figure 73.

Figure 85 is the explanatory along an improved example of the turning cylinder of the guide roller of folding cell shown in the preceding extreme direction deflection graph 73.

Figure 86 is used to the explanatory of workpiece being carried out the state of flanging processing is described that wherein, the edge part of described workpiece is configured to meander-shaped.

Figure 87 is used to the explanatory of workpiece being carried out the state of flanging processing is described that wherein, described workpiece is configured to have the meander-shaped than small magnitude.

Figure 88 is the side view according to the roll-type flanging equipment of the 6th illustrative embodiments.

Figure 89 is the plane according to the roll-type flanging equipment of the 6th illustrative embodiments.

Figure 90 A and 90B are the side views according to the roller that is used for flanging processing of the 6th illustrative embodiments.

Figure 91 A to Figure 91 C is the explanatory according to the principal curvature step of the 6th illustrative embodiments.

Figure 92 A to Figure 92 C is the explanatory according to the auxiliary bending step of the 6th illustrative embodiments.

Figure 93 is the side view according to the roll-type flanging equipment of an improved example of the 6th illustrative embodiments.

Figure 94 is the plane according to the roll-type flanging equipment of an improved example of the 6th illustrative embodiments.

Figure 95 A and Figure 95 B are the side views according to the roller that is used for flanging processing of an improved example of the 6th illustrative embodiments.

Figure 96 A to 96D is the explanatory according to the step of an improved example of the 6th illustrative embodiments.

Figure 97 is the front view according to the mould of the roll-type flanging equipment of the 7th illustrative embodiments.

Figure 98 is the cutaway view of being got along Figure 97 center line 2-2.

Figure 99 is the cutaway view of being got along Figure 97 center line 3-3.

Figure 100 is the cutaway view of being got along Figure 97 center line 4-4.

Figure 101 is the perspective view according to the connector of the 7th illustrative embodiments.

Figure 102 is the cutaway view of being got along Figure 101 center line 6-6.

Figure 103 A is the explanatory that is connected according to the mould of the 7th illustrative embodiments with Figure 103 B.

Figure 104 A and Figure 104 B are the explanatory according to the preparation flanging processing of the 7th illustrative embodiments.

Figure 105 A and Figure 105 B are the explanatory according to the regular flanging processing of the 7th illustrative embodiments.

Figure 106 A to Figure 106 D is the comparative descriptions view of the gathering sill of roll-type flanging equipment.

Figure 107 A and Figure 107 B are the views that is used to illustrate the correlation technique basic principle.

Figure 108 A and Figure 108 B are the views that is used to illustrate the problem of correlation technique.

Figure 109 is the view that is used to illustrate the basic structure of other correlation technique.

Figure 110 is the view of the basic structure of the correlation technique that is used to illustrate that other is other.

The specific embodiment

Hereinafter with reference to accompanying drawing according to an illustrative embodiment of the invention hemming processing method and hemming working apparatus are described.

＜the first illustrative embodiments 〉

As shown in Figure 1, hemming working apparatus 10 according to present embodiment is arranged on the intermediate steps of the production line 14 that the vehicle (workpiece) 12 that is in so-called body in white state is assembled and processed, and the flange 17 of the wheel cover arch that is positioned at the left rear wheel side is carried out the equipment of roll-type flanging processing.Wheel cover arch 16 is configured to 180 ° roughly circular shape.Undertaken under the state of first being processed by flanging equipment 10, flange 17 is configured to crooked 90 ° the shape to the inside from the end 16a (referring to Fig. 6) of wheel cover arch 16.

Hemming working apparatus 10 comprise move moulds 18, manipulator (conveyer) 22, photoelectric sensor 23 and controller 24, wherein, move moulds and 18 contact with the wheel cover arch 16 (it constitutes workpiece) of vehicle 12, manipulator 22 is used to make move moulds and 18 moves, and the front end at manipulator 22 has folding cell 20, photoelectric sensor 23 is used to detect the assigned address whether vehicle 12 is transported on the production line 14, and controller 24 is used to carry out overall control.

Controller 24 comprises confining force adjusting portion (adjusting device) 25, is used to regulate the power that manipulator 22 keeps posture.The voltage that confining force adjusting portion 25 is applied to by adjusting on the drive circuit of the motor that is used to drive each connecting portion place that is arranged on manipulator 22 is regulated the moment of torsion that is produced by each motor.Therefore, the power that is produced by each connecting portion can as one man reduce or increase.

Manipulator 22 is industrial joint motions type, folding cell 20 can be moved to any position and be moved into any posture by procedure operation.Be provided with near manipulator 22 and take in platform 26,18 be configured in and take in the platform 26 with corresponding polytype the moving moulds of the type of vehicle 12, this position data of taking in platform 26 is stored in the controller 24.Controller 24 is connected on the outside production control computer (not shown) that the operation of production line 14 is controlled, and the information of the type of the vehicle 12 that transports on production line 14 etc. is provided to controller 24.

As shown in Figure 2, folding cell 20 has from outstanding hemming roller 30 and guide roller 32 that is provided with of end face and the chuck 34 that is located at side surface part.Chuck 34 has a pair of hook 36 of open and close under the effect of controller 24, and this hook 36 is used for moving moulds 18.

Hemming roller 30 and guide roller 32 are by bolster 30a and 32a axially mounting rotatably.In addition, hemming roller 30 and guide roller 32 can be gone up in Y direction (direction that bolster 30a and 32a arrange) and move, and can regulate the interval between bolster 30a and the 32a, can push the member of being clamped by hemming roller 30 and guide roller 32.And hemming roller 30 and guide roller 32 are so-called floating structure, and they can keep relative position and go up and move in Y direction and directions X (bolster 30a and 32a's is axial) drivenly and in flexibly mobile by external force.That is to say that bolster 30a and 32a can move jointly on directions X and Y direction in the interval that regulates that keeps therebetween.

Hemming roller 30 is formed by the tapered roll 38 that is located at front with the cylinder roller 40 that is located at base end side that tapered roll 38 one constitute.Tapered roll 38 is the frustum of a cone of the convergent shape of 45 ° of inclinations when side-looking, the long L1 of its rib (referring to Fig. 6) is configured to slightly longer than the height H (referring to Fig. 6) of flange 17.Cylinder roller 40 be diameter than the bigger drum of maximum gauge portion on the base end side of tapered roll 38, axial height H2 (referring to Fig. 6) is configured to more smaller than the height H of flange 17.

Guide roller 32 is configured to periphery and is set in a narrow margin disc-shape, and can engage with first groove (guide part) 52 or second groove (guide part) 54 (referring to Fig. 6).

As shown in Figure 3 and Figure 4, moving moulds 18 is that matrix constitutes with Die and mould plate 49.Die and mould plate 49 is configured to tabular, and its side that contacts with wheel cover arch 16 is called surperficial 49a, an opposite side is called back side 49b and is distinguished.In addition, the workpiece side when the end 16a of wheel cover arch 16 observes is called inboard (arrow A 1 side), and its opposite side is called the outside (arrow A 2), to show difference.

Die and mould plate 49 is made of arch sheet, and its surperficial 49a contacts with around the wheel cover arch 16, and surperficial 49a is set at the three-dimension curved surface that the surface configuration with vehicle 12 adapts.Therefore, when moving moulds 18 when being connected on the wheel cover arch 16, first groove 52 and second groove 54 be arranged in parallel with flange 17, and surperficial 49a contacts with vehicle 12 large tracts of land ground.

Move moulds and 18 comprise: the outer arc portion 50 that forms along the outside more outside slightly than the end 16a of wheel cover arch 16,49b goes up first groove 52 and second groove 54 that be arranged in parallel along outer arc portion 50, is located at three adsorbing mechanisms (erecting device) 58 of handling knob 56, being set up in parallel on 18 the top of moving moulds on the 49b of the back side and is used to aspirate pipe 60 via the air of adsorbing mechanism 58 overleaf.First groove 52 be arranged on Die and mould plate 49 from the outside outside of the end 16a of flange 17, second groove 54 is arranged on the inboard of end 16a.In addition, move moulds and 18 comprise two outstanding alignment pins 62 from two bottoms of surperficial 49a respectively.

In addition, be used for 18 devices that are installed on the wheel cover arch 16 that move moulds are not limited to adsorbing mechanism 58, can also use the clamp mechanism etc. that grasps the specified portions of vehicle 12 by bar etc., perhaps and with clamp mechanism etc. and adsorbing mechanism 58.

The diameter of alignment pin 62 is set in the locating hole 65 (referring to Fig. 1) that can be inserted into vehicle 12, and the front end of alignment pin 62 is the taper that attenuates along diametric(al) so that insert.In addition, because it is 18 main by adsorbing mechanisms 58 supportings and fixing to move moulds, be used to support the intensity of 18 own wts of moving moulds so alignment pin 62 needn't have, it is made of elongated diameter is enough.

As shown in Figure 5, adsorbing mechanism 58 is located at downstairs portion 64 places that constitute by finished surface 49a slightly, and it comprises clamper 66 with the area that is suitable for adsorbing and the pump orifice 68 that is communicated with clamper 66.Clamper 66 is made of the double-deck adsorption section 67a of elastic component (for example, rubber, sponge etc.) composition and the base portion 67b harder than adsorption section 67a, and base portion 67b is fixed in the downstairs portion 64.Clamper 66 is outstanding slightly from surperficial 49a.

The surface of clamper 66 is provided with many lateral apertures 70.Lateral aperture 70 is connected in one and is communicated with pump orifice 68 at base portion 67b place.Pump orifice 68 is connected on the pipe 60 by connector 72.

According to aspirating mechanism 58, by finishing from the suction action of each lateral aperture 70 suction airs from managing 60 suction airs, clamper 66 can be adsorbed on the surface of wheel cover arch 16, moves moulds 18 to be fixed.At this moment, the adsorption section 67a of clamper 66 adsorbs by the micro-elasticity compression.Can be by using injector or vavuum pump etc. from managing 60 suction airs.

Move moulds 18 only with wheel cover arch 16 around contact, so it is a small mould.In addition, 18 contact vehicle 12 from the side owing to move moulds, thus do not increase the weight of vehicle 12 on 18 moving moulds, and because this moves moulds 18 is not anti-load structure, so can be set at the structure of light weight.Therefore, move moulds 18 by can moving simply and easily by grasp 56 the manipulator 22 of handling knob with chuck 34, and can be by adsorbing mechanism 58 absorption.

When move moulds 18 when being fixed on the wheel cover arch 16 by adsorbing mechanism 58 under the state by alignment pin 62 location, as shown in Figure 6, outer arc portion 50 is arranged on the outside (downside among Fig. 6) of the end 16a of wheel cover arch 16.The summary that first groove 52 is arranged on end 16a in the outer part, second groove 54 is compared in the inner part with end 16a.First groove 52 and second groove 54 are arranged in parallel at the roughly symmetric position upper edge end 16a that with end 16a is benchmark.

As shown in Figure 7, by to three board members, promptly outside plate 80a, intermediate plate 80b and inner panel 80c carry out case structure and weld and constitute wheel cover arch 16, and this wheel cover arch 16 has very large rigidity.According to this Welding Structure, can occur because the thermal strain that welding produces causes the situation that forms the gap from 18 the surperficial 49a of moving moulds.For example, as shown in Figure 7, form gap 82a and 82b between the outside plate 80a of 18 surperficial 49a and wheel cover arch 16 that moves moulds, the mid portion of surperficial 49a and outside plate 80a contacts with each other and interval therebetween becomes big respectively gradually towards two ends.

Next, with reference to Fig. 8 and Fig. 9 the processing method of using the flange 17 of 10 pairs of wheel cover arch 16 of hemming working apparatus as constituted above to carry out the processing of roll-type flanging is described.Operation shown in Fig. 8 and Fig. 9 mainly be under the control of controller 24 by move moulds 18, folding cell 20 and manipulator 22 realize.

At first, in step S1, after the information of the type of vehicle that next transports the vehicle 12 that comes from the production control computer affirmation, manipulator 22 18 is put back into current moving moulds of grasping on the adjustment position of taking in platform 26, and grasps with corresponding other of type of vehicle by chuck 34 and to move moulds 18.Keeping just not needing this changing to hold operation under corresponding 18 the situation of moving moulds, in addition, when transporting the vehicle 12 of many same vehicle types, also needn't change to hold certainly and move moulds 18.

In step S2, come standby before vehicle 12 transports by the signal of confirming photoelectric sensor 23.Vehicle 12 transports by production line 14, and near the specified location manipulator 22 stops.Operation enters into step S3 when confirming that by photoelectric sensor 23 vehicle 12 has been transported to.

In step S3 (near step), shown in Figure 10 A, move by manipulator 22 and to move moulds 18 and alignment pin 62 is inserted into come in the locating hole 65 of vehicle 12 and 18 on vertical direction and horizontal direction, positions moving moulds.At this moment, move moulds 18 surperficial 49a and clamper 66 separates with vehicle 12.

And because the output of manipulator 22 is in unconfined high output state, move moulds 18 so can transport with higher speed this moment, and then shorten circulation timei.

In step S4, shown in Figure 10 B, by manipulator 22, moving moulds 18 is further promoted, and clamper 66 slightly contacts with the surface of vehicle 12.At this moment, move moulds 18 surperficial 49a separates slightly with vehicle 12.

In step S5, from managing 60 suction airs and beginning to aspirate air by adsorbing mechanism 58.At this moment, be used for power that manipulator 22 keeps postures and be retained as fully absorption affinity, and make to move moulds and 18 be not shifted greater than adsorbing mechanism 58.

In step S6 (installation steps), the output that reduces manipulator 22 by operation confining force adjusting portion 25 reduces the rigidity of each connecting portion of manipulator 22, reduces to be used to keep the power of posture thus.But thereby move moulds 18 states (so-called floating type state) that are in elastic displacement.Thus, the absorption affinity of the adsorbing mechanism 58 of manipulator 22 surpasses the power that manipulator 22 keeps postures, moves moulds 18 to be moved to vehicle 12.That is to say, produce floating type state by the output that reduces manipulator 22, just can reduce the power that manipulator 22 keeps postures, therefore, even when the absorption affinity of adsorbing mechanism 58 reduces, moving moulds 18 also can be adsorbed on the vehicle 12.

As a result, shown in Figure 10 c, at elastic compression adsorption section 67a so that surperficial 49a with when vehicle 12 contacts, move moulds and 18 move to the front side.

At this moment, because manipulator 22 is in floating type state,, and moves moulds and 18 when being moved to the suitable posture of surface configuration and vehicle 12 cooperations, contact with vehicle 12 so each connecting portion suitably is out of shape.Therefore, move moulds and 18 with under the state that vehicle 12 cooperates can excessively not push vehicle 12, thereby can prevent that vehicle 12 from deforming.In addition, move moulds 18 by stationary positioned accurately to wheel cover arch 16.

In addition, 18 self the weight because manipulator 22 supporting moves moulds, and manipulator 22 self in the vertical direction even be in floating type state so adsorbing mechanism 58 does not need taking the weight of, only need produce the power that can be adsorbed on the vehicle 12.Therefore, less output enough produces the absorption affinity of adsorbing mechanism 58.Like this, because less output is set on the adsorbing mechanism 58, so vehicle 12 can excessively do not pushed, and can prevent that vehicle 12 from deforming.

The 18 adsorption section 67a that are fixed on the vehicle 12 that are used for moving moulds are made of elastic component, therefore, just adsorption section 67a firmly can be fixed on the surface of vehicle 12 by adsorption section 67a closely being contacted with the surface of vehicle 12 and not having air to leak, can not assemble stress in the part and can prevent further that vehicle 12 from deforming.

In step S7, to open after the hook 36 of chuck 34, manipulator 22 and folding cell 20 18 separate from moving moulds.At this moment, moving moulds 18 is fixed on the vehicle 12 by being arranged on this adsorbing mechanism 58 that moves moulds on 18 integratedly, and therefore, even when chuck 34 discharges from it, moving moulds 18 can not fall yet, and 18 the position of moving moulds in other words can not change.

In step S8, changed folding cell 20 towards after, make it near moving moulds 18 outer arc portion 50, and guide roller 32 be bonded in first groove 52.

In step S9, make guide roller 32 and hemming roller 30 closer to each other, as shown in Figure 6, clamp by guide roller 32 and cylinder roller 40 and to move moulds 18.At this moment, flange 17 is by tapered roll 38 pushings, along 45 ° of bendings of conical surface inclination.

In step S10, as shown in figure 11, it is rotated by guide roller 32 is bonded on, make tilt the to the inside first flanging operation of 45 ° of bendings of flange 17 continuously.That is, hemming roller 30 and guide roller 32 roll in the mode of rotating to opposite mutually direction, and carry out the first flanging operation by the taper seat continuous bend flange 17 of tapered roll 38.The flanging processing that the first flanging operation is carried out is what the total length of flange 17 was carried out.

In step S11, shown in the double dot dash line among Figure 12, by distance between hemming roller 30 and the guide roller 32 is prolonged a little and 18 leave and folding cell 20 is advanced, and hemming roller 30 and guide roller 32 are advanced along arrow X1 direction from moving moulds.This forward travel distance and first groove 52 equate with distance between second groove 54.

In step S12, guide roller 32 is bonded in second groove 54.In addition, make guide roller 32 and hemming roller 30 closer to each other, as shown in figure 12, will move moulds by guide roller 32 and cylinder roller 40 and 18 to clamp and to push.Flange 17 is crooked by 40 pushings of cylinder roller, contacts up to the back side with wheel cover arch 16.That is, flange 17 is from further crooked 45 ° of the first flanging operations, from 90 ° of initial angular bend.

In step S13, as shown in figure 13, it is rotated by being bonded at guide roller 32, carry out continuously the second flanging operation of flange 17 bendings till the back side with wheel cover arch 16 contacts.That is, rotate hemming roller 30 and guide roller 32 and roll in the mode of rotation in the opposite direction, and by the periphery disc of cylinder roller 40 with flange 17 continuous bendings, carry out the second flanging operation.

In the second flanging operation, similar with the first flanging operation, by the floating structure of hemming roller 30 and guide roller 32 guide roller 32 is moved along the accurate route of second groove 54, and carry out the processing of flange 17 total lengths.

In step S14, distance between hemming roller 30 and the guide roller 32 is prolonged a little and 18 separate from moving moulds.In addition, folding cell 20 is temporarily from 18 separation that move moulds.

In step S15,18 the processing of opening moves moulds.That is, change folding cell 20 towards after, it is grasped near back side 49b and by chuck 34 handles knob 56, finish in addition by managing 60 suctions of carrying out.

In step S16, carry out standby and handle.That is, make to move moulds by the position of readiness that makes manipulator 22 move to appointment and 18 leave from vehicle 12.Controller 24 is to production control computer notice flanging processing normal termination.Accept the affirmation rear drive production line 14 that the production control computer after the notice requires the condition of also carrying out to set up in the appointment to other, the vehicle 12 of flanging process finishing is transported to next process.

Like this,, make by making manipulator 22 be in floating type state that move moulds 18 can strain, and make to move moulds by adsorbing mechanism 58 and 18 contact with vehicle 12 according to the hemming processing method and the hemming working apparatus 10 of first illustrative embodiments.At this moment, owing to reduced the rigidity of each connecting portion of manipulator 22,, and make to move moulds and 18 when being moved to surface configuration, contact with workpiece with suitable posture that workpiece mates so each connecting portion suitably is out of shape.Therefore, moving moulds 18 with under the state that vehicle 12 cooperates can excessively not push vehicle 12, thereby can prevent that vehicle 12 from deforming.

In addition, be arranged as the manipulator 22 of conveyer with as the adsorbing mechanism 58 of erecting device by branch, just can realize floating type step with big speed by setting manipulator 22 for bigger output, and can be by setting adsorbing mechanism 58 for less relatively output so that prevent that in contact procedure workpiece from deforming.

18 the weight of moving moulds is configured to be transported by manipulator 22, and generally can be applied on other workpiece except vehicle 12, and irrelevant with the size of workpiece.In addition, 18 also can be applied on the production line 14, therefore not need to be provided with the private space of the flanging processing usefulness of separating with production line 14 owing to move moulds.

Although according to above-mentioned example, with a manipulator 22 not only as transporting 18 the device but also of moving moulds as the device of mobile folding cell 20, yet can use independent manipulator to carry out to transport move moulds 18 the function and the function of mobile folding cell 20 respectively.In addition, the system of bending flange 17 is not limited to flange 17 is folded into inboard system, can be by bending flange 17 with the inner panel of clamping appointment etc.

Next, with reference to Figure 14 a kind of improved example according to the hemming processing method of first illustrative embodiments is described.Operation shown in Figure 14 mainly be under the control of controller 24 by move moulds 18, folding cell 20 and manipulator 22 realize.In following explanation, as required three clampers 66 are described as clamper 66a, 66b and 66c respectively, to show difference (referring to Figure 15).

At first, in step S201, after the information of the type of vehicle that next transports the vehicle 12 that comes from the production control computer affirmation, manipulator 22 18 is put back into current moving moulds of grasping on the adjustment position of taking in platform 26, and grasps with corresponding other of type of vehicle by chuck 34 and to move moulds 18.Keeping just not needing this changing to hold operation under corresponding 18 the situation of moving moulds, in addition, when transporting the vehicle 12 of many same vehicle types continuously, also needn't change to hold certainly and move moulds 18.

In step S202, confirm the signal and the standby before vehicle 12 transports of photoelectric sensor 23.Vehicle 12 transports by production line 14, and near the specified location manipulator 22 stops.Operation enters into step S203 when confirming that by photoelectric sensor 23 vehicle 12 has been transported to.

In step S203, will move moulds 18 is installed on the wheel cover arch 16.Promptly, move by manipulator 22 move moulds 18 and by the locating hole 65 that alignment pin 62 is inserted into vehicle 12 in come to move moulds 18 on vertical direction and horizontal direction, position after, further advance to move moulds 18 and clamper 66 is slightly contacted with the surperficial of vehicle 12.

In addition, in manipulator 22 18 the power that reduces to keep to move moulds 18 can be so that move moulds with respect to after vehicle 12 elastic displacements, from managing 60 suction airs so that 18 the surperficial 49a of moving moulds contact with vehicle 12 by adsorbing mechanism 58.Therefore, moving moulds 18 is installed on the wheel cover arch 16, and positioning and fixing accurately.

At this moment, as shown in figure 15,, on whole, more or less be formed with gap 90 although clamper 66 is compressed and makes outside plate 80a near moving moulds 18 surperficial 49a.

In step S204, after the hook 36 of opening chuck 34, manipulator 22 and folding cell 20 18 separate from moving moulds.At this moment, moving moulds 18 is fixed on the vehicle 12 by being arranged on this adsorbing mechanism 58 that moves moulds on 18 integratedly, and therefore, even when chuck 34 is released, moving moulds 18 can not fall yet, and 18 the position of moving moulds in other words can not change.

In step S205, changed folding cell 20 towards after, make it near moving moulds 18 outer arc portion 50, and guide roller 32 be bonded among the end 52a of first groove 52.

In step S206, make guide roller 32 and hemming roller 30 closer to each other, as shown in Figure 6, clamp by guide roller 32 and cylinder roller 40 and to move moulds 18.At this moment, flange 17 is by tapered roll 38 pushings, along 45 ° of bendings of conical surface inclination.

In addition, because guide roller 32 and hemming roller 30 are pressed to the other side forcefully, as shown in figure 16, so at the 52a place, an end of first groove 52, surperficial 49a and outside plate 80a contact with each other and are very close to each other therebetween, and flange 17 bending firmly.On the contrary, at mid portion 52b and the other end 52c place of first groove 52, exist along with becoming big gap 94a with the distance increase of end 52a.

And according to clamping end 52a forcefully by guide roller 32 and hemming roller 30, as shown in figure 17, moving moulds 18 top this moment, is compressed largely near the clamper 66a of end 52a one side, and the gap 94a of this part becomes very little.Increase along with distance and become big on the other hand, with near the clamper 66b of mid portion 52b with near the corresponding gap 94b of the clamper 66c of the other end 52c and 94c with end 52a.

In step S207, as shown in figure 18, it is rotated by guide roller 32 is bonded on, make tilt the to the inside first flanging operation of 45 ° of bendings of flange 17 continuously.That is, hemming roller 30 and guide roller 32 roll in the mode of rotation in the opposite direction, and carry out the first flanging operation by the taper seat continuous bend flange 17 of tapered roll 38.

In rotation process, as shown in figure 19, when guide roller 32 arrives mid portion 52b, at mid portion 52b place, because guide roller 32 and hemming roller 30 strong clampings, surperficial 49a and outside plate 80a contact with each other and are very close to each other therebetween, and flange 17 bending firmly.On the contrary, near the end 52a and 52c of mid portion 52b both sides, there are gap 90b and 90c.

In addition, according to clamping mid portion 52b forcefully by guide roller 32 and hemming roller 30, as shown in figure 20, moving moulds 18 top, be compressed largely near the clamper 66b of mid portion 52b, the gap 94b of this part becomes very little.On the other hand, increase along with distance with the gap 94a of clamper 66a and the corresponding part of 66c and 94c and become big with mid portion 52b.

In addition, when being rotated further, as shown in figure 21, guide roller 32 arrives the end 52c that finishes side, end 52c is clamped by guide roller 32 and hemming roller 30, surface 49a and outside plate 80a contact with each other and are very close to each other therebetween, flange 17 bending firmly, and there are gap 90d in end 52a and mid portion 52b place.In addition, as shown in figure 22, moving moulds 18 top, be compressed largely near the clamper 66c of end 52c, the gap 94c of this part becomes very little.On the contrary, increase along with distance with the gap 94a of clamper 66a and the corresponding part of 66b and 94b and become big with end 52c.

Like this, the flanging processing carried out of the first flanging operation is what the total length of flange 17 was carried out.In the processing of first flanging, in the part of being clamped by guide roller 32 and hemming roller 30, outside plate 80a and surperficial 49a contact with each other and are very close to each other therebetween, and therefore, flange 17 is by bending firmly.In addition, in this processing part, contact, therefore on outside plate 80a, intermediate plate 80b and inner panel 80c, do not apply extra external force, and can not produce distortion or distortion owing to the strain based on clamper 66 moves to outside plate 80a surperficial 49a.

In addition, 18 surperficial 49a and the contacted part of outside plate 80a of moving moulds only is the processing part of being clamped by guide roller 32 and hemming roller 30, and at other part places, the action of giving by clamper 66 is realized makes surperficial 49a and outside plate 80a remain on released state.Therefore, can prevent from scratch etc. to occur on the outside plate 80a.

In step S208, shown in the double dot dash line among Figure 23, by make distance between hemming roller 30 and the guide roller 32 far away a little and 18 leave from moving moulds, and by folding cell 20 is advanced, and hemming roller 30 and guide roller 32 are advanced along arrow X1 direction.This forward travel distance and first groove 52 equate with distance between second groove 54.

In step S209, guide roller 32 is bonded in second groove 54.In addition, make guide roller 32 and hemming roller 30 closer to each other, as shown in figure 23, will move moulds by guide roller 32 and cylinder roller 40 and 18 to clamp and to push.Flange 17 is crooked by 40 pushings of cylinder roller, contacts up to the back side with wheel cover arch 16.That is, flange 17 is from further crooked 45 ° of the first flanging operations, from 90 ° of initial angular bend.

In step S210, as shown in figure 24, be bonded at guide roller 32 it is rotated, carry out continuously the second flanging operation of flange 17 bendings till the back side with wheel cover arch 16 contacts.That is, rotate hemming roller 30 and guide roller 32 and roll in the mode of rotation in the opposite direction, and by the periphery disc of cylinder roller 40 with flange 17 continuous bendings, carry out the second flanging operation.

In addition, because the effect and the first flanging operation that the second flanging operation is obtained are similar, therefore omit description to it.Promptly, at the part place of clamping by guide roller 32 and hemming roller 30, outside plate 80a and surperficial 49a contact with each other and are very close to each other therebetween, and flange 17 is from firmly crooked 90 ° of initial angles, in addition, because surperficial 49a moves to outside plate 80a based on the strain of clamper 66 and contacts, so outside plate 80a, intermediate plate 80b and inner panel 80c can not produce distortion or distortion.And other parts outside the processing part realize making action of giving surperficial 49a and outside plate 80a remain on released state, and can prevent from scratch etc. to occur on the outside plate 80a by clamper 66.

In step S211, make distance between hemming roller 30 and the guide roller 32 far away a little and 18 separate from moving moulds.In addition, folding cell 20 is temporarily from 18 separation that move moulds.

In step S212,18 the processing of opening moves moulds.That is, change folding cell 20 towards after, it is grasped near back side 49b and by chuck 34 handles knob 56, finish the suction of pipe 60 in addition.

Carrying out standby in step S213 handles.That is, make to move moulds by the position of readiness that makes manipulator 22 move to appointment and 18 leave from vehicle 12.Controller 24 is to production control computer notice flanging processing normal termination.Accept the affirmation rear drive production line 14 that the production control computer after the notice requires the condition of also carrying out to set up in the appointment to other, the vehicle 12 of flanging process finishing is transported to next process.

Like this, according to hemming working apparatus 10 and hemming processing method, even have under the situation of error with respect to 18 shapes that move moulds in the wheel cover arch 16 that constitutes workpiece, at the part place that is processed by hemming roller 30 and guide roller 32, the surface by making wheel cover arch 16 contacts with 18 the surperficial 49a of moving moulds and can make flanging partly be bent into suitable shape.In addition, because clamper 66 is made of elastic component, therefore move moulds and 18 can be pressed to wheel cover arch 16 by elasticity, with can make in other parts outside the pushing part move moulds 18 with the wheel arch part from, thereby can prevent that the gap is forced to extruding and can prevents that outside plate 80a, intermediate plate 80b and inner panel 80c are distorted or are out of shape.

In addition, 18 elasticity that are used for moving moulds be installed in device on the vehicle 12 be not limited to move moulds 18 and vehicle 12 between the device that is provided with, as adsorption section 67a, and for example can use as shown in figure 25 a plurality of clamp mechanism 158 according to the shape of workpiece, material etc.

Clamp mechanism 158 comprises: the strut 164 that extends from the end of Die and mould plate 49, be located at the cylinder 166 on the strut 164 and be centroclinal opening 168 with the bolster that is located on the strut 164 pivotly.One end of opening 168 is formed in the clamping part 168a that the reference position of vehicle 12 is engaged and keeps.According to the clamping part 168a that makes by elastic component, 67a is similar with the adsorption section, 18 elasticity that move moulds can be pressed to vehicle 12,18 can be so that move moulds by hemming roller 30 in processing part contact wheel cover arch 16, and other parts outside the pushing part are separated with wheel cover arch 16.Can also and use clamp mechanism 158 and adsorbing mechanism 58.

In addition, although according to above-mentioned example, with a manipulator 22 not only as transporting 18 the device but also of moving moulds as the device of mobile folding cell 20, yet can use independent manipulator to carry out to transport move moulds 18 the function and the function of mobile folding cell 20 respectively.In addition, the system of bending flange 17 is not limited to flange 17 is folded into inboard system simply, can also clamp the inner panel etc. of appointment by bending flange 17.

＜the second illustrative embodiments 〉

Figure 26 is used to illustrate by the flange of the wheel cover arch of vehicle being carried out the profile perspective view of the action of flanging processing according to the hemming working apparatus of second illustrative embodiments of the present invention.Hemming working apparatus 3010 according to second illustrative embodiments is arranged on the intermediate steps of the production line 3014 that the vehicle (workpiece) 3012 that is in so-called body in white state is assembled and processed, and the flange 3017 of the wheel cover arch 3016 that is positioned at the left rear wheel side is carried out the equipment of flanging processing.Wheel cover arch 3016 is configured to about 180 ° roughly circular shape.Undertaken under the state of first being processed by hemming working apparatus 3010, flange 3017 is configured to the shape of crooked to the inside 90 ° of end 3016a (referring to the double dot dash line Figure 30) from wheel cover arch 3016.

As shown in figure 26, hemming working apparatus 3010 comprise move moulds 3018, manipulator 3022, photoelectric sensor 3023 and controller 3024, wherein, move moulds and 3018 contact with the wheel cover arch 3016 of vehicle 3012, be used to make move moulds as the manipulator 3022 of travel mechanism and 3018 move, and the front end at manipulator 3022 is supported with folding cell 3020, photoelectric sensor 3023 is used to detect the assigned address whether vehicle 3012 is transported on the production line 3014, and controller 3024 is used to carry out overall control.

Manipulator 3022 is industrial joint motions type, folding cell 3020 can be moved to any position and be moved into any posture by procedure operation.In addition, be provided with near manipulator 3022 and take in platform 3026,3018 be configured in and take in the platform 3026 with corresponding polytype the moving moulds of the type of vehicle 3012, this position data of taking in platform 3026 is stored in the controller 3024.Controller 3024 is connected on the outside production control computer (not shown) that the operation of production line 3014 is controlled, and the information of the type of the vehicle 3012 that transports on production line 3014 etc. is provided to controller 3024.

As shown in figure 27, folding cell 3020 is supported by the support 3022a on the front end that is fixed on manipulator 3022, and be contained in the outer container 3021 that is connected on the support 3022a, and be provided with from the outstanding hemming roller 3030 that is provided with of the 3021a of hole portion of the pre-face of outer container 3021 with as the guide roller 3032 that receives roller.In addition, the front end face at outer container 3021 is provided with chuck 3034.Chuck 3034 has a pair of hook 3036 of open and close under the effect of controller 3024, and this chuck 3034 is used for moving moulds 3018.

Hemming roller 3030 and guide roller 3032 are by bolster 3030a and 3032a axially mounting rotatably.In addition, hemming roller 3030 and guide roller 3032 can be gone up at directions X (direction that bolster 3030a and 3032a are arranged side by side) and move, and can push the member of being clamped by hemming roller 3030 and guide roller 3032.And, hemming roller 3030 and guide roller 3032 support by manipulator 3022 via floating type mechanism (not shown), and they upward move at directions X and Y direction (bolster 3030a and 3032a's is axial) when can move at the maintenance relative position and by external force drivenly and flexibly.That is to say that bolster 3030a and 3032a can move linkedly on directions X in the interval that regulates that keeps therebetween.

Hemming roller 3030 is formed by the tapered roll 3038 that is located at front with the cylinder roller 3040 that is located at base end side that tapered roll 3038 one constitute.Tapered roll 3038 is the frustum of a cone of the convergent shape of 45 ° of inclinations when side-looking, the long L1 of its rib (referring to Figure 32) is configured to slightly longer than the height H of flange 3017.Cylinder roller 3040 is that diameter is than the bigger drum of maximum gauge portion on the base end side of tapered roll 3038.

Guide roller 3032 is configured to periphery and is set in a narrow margin disc-shape, and can be bonded in first groove 3052 or second groove 3054 (referring to Figure 32) that moves moulds on 3018.Promptly, by first groove 3052 and second groove 3054 and as the guide roller 3032 of ways, guide this hemming roller 3032 along flange 3017 along Y direction (the bolster 3030a of hemming roller 3030 axially) and directions X (direction that bolster 3030a and 3032a are arranged side by side) in respect to flange 3017 displacements in restriction hemming roller 3030.In addition, guide roller 3032 is along the position consistency (with reference to Figure 32) at the center (L2/2) of the height L2 of the cylinder roller 3040 of the position of Y direction and hemming roller 3030.

Here, describe folding cell 3020 in detail with reference to Figure 28 to Figure 30.Figure 28 is the perspective view of folding cell 3020, and Figure 29 is the partial cutaway side figure of the folding cell 3020 before the processing of expression flanging, and Figure 30 is the partial cutaway side figure that the expression flanging adds the folding cell 3020 in man-hour.In addition, in Figure 28 to Figure 30,, represent outer container 3021 pellucidly with double dot dash line in order to see the structure of folding cell 3020.

Folding cell 3020 comprises: hemming roller 3030 and guide roller 3032, be used for supporting vertically the bolster 3030a and the 3032a of hemming roller 3030 and guide roller 3032, the upper surface has first movable part 3100 as movable part of bolster 3030a, the upper surface has second movable part 3102 as movable part of bolster 3032a, be used to connect first movable part 3100 and second movable part 3102 and make it support first movable part 3100 with being used for respect to manipulator 3022 along the cylinder 3106 that directions X moves, the base portion 3110 of second movable part 3102 and cylinder 3106.

Base portion 3110 is the downside roughly channel shape longer than upside when side-looking (referring to Figure 29), this base portion 3110 is provided with: by the 3rd movable part 3114 that second guide rail 3025 can support along the Y direction with being shifted, this second guide rail 3025 is extending on the Y direction and by being fixed on the support 3022a and roughly being when side-looking (referring to Figure 29) the supporting member 3022b supporting of channel shape; From the 3rd movable part 3114 at the central authorities of the Y direction base 3116 of the outstanding rectangle that is provided with of portion on the lower side; Be located at the front end supporting member 3118 of rectangle at the front end face place of base 3116; From the top of the 3rd movable part 3114 along the dull and stereotyped 3120a of the direction outstanding rectangle that be provided with parallel with base 3116; And the partition board portion 3120b of the rectangle that be arranged in parallel at front end and the 3rd movable part 3114 of dull and stereotyped 3120a.In addition, in series be provided with first supporting member 3126 and second supporting member 3127 at the side 3102b of the 3rd movable part 3114 sides and from the leading section of extension 3122 between the side 3124a outstanding on the top of second movable part 3102 along the Y direction, and partition board portion 3120b is located at therebetween to isolate, wherein above-mentioned extension 3122 extends to the 3rd movable part 3114 sides from second movable part 3102, and above-mentioned side 3124a does not contact with dull and stereotyped 3120a.

In addition, first guide rail 3128 is parallel to this base 3116 extensions at the upper space of base 3116, and the 3rd movable part 3114 and front end supporting member 3118 are at this upper space place toward each other.In addition, first movable part 3100 and second movable part 3102 are supported by first support rails 3128 and respectively can be at the directions X superior displacements by line slideway 3130 and 3132.That is, first movable part 3100 and second movable part 3102 are supported on the base portion 3110 by line slideway 3130 and 3132 etc., and first movable part 3100 and second movable part 3102 are as movable agency.In addition, second movable part 3102 by first supporting member 3126 that separates by partition board portion 3120b as mentioned above and second supporting member 3127 on directions X by driven ground and flexibly supporting.Promptly, when second movable part 3102 to direction when displacement of leaving first movable part 3100, second supporting member 3127 shrinks by the effect of partition board portion 3120b, and when second movable part 3102 near the displacement of the direction of first movable part 3100 time, first supporting member 3126 shrinks by the effect of partition board portion 3120b.

And, from the lower end surface of supporting member 3022b to the outstanding horizontal protuberance 3022c that is provided with of directions X and base 3116 by the 3rd supporting member 3138 and by driven ground and flexibly supported.Though a pair of two the 3rd supporting members are set to end and base 3116 on the horizontal protuberance 3022c of the connection both sides,, a mid portion and a base 3116 that connects horizontal protuberance 3022c at width can certainly be set.

In addition, first supporting member 3126, second supporting member 3127 all have similar structure with the 3rd supporting member 3138, first supporting member 3126 is made of axial region 3126a and the spring 3126b that is installed in around this axial region 3126a, and second supporting member 3127 is made of axial region 3127a and the spring 3127b that is arranged on around this axial region 3127a.Equally, the 3rd supporting member 3138 is made of axial region 3138a and the spring 3138b that is installed in around this axial region 3138a.In addition, each axial region 3126a, 3127a and 3138a can be made of for example hydraulic draft gear or air type buffer.

Because first supporting member 3126 and second supporting member 3127 have aforesaid structure, so, as mentioned above, second movable part 3102 can be bearing on the base portion 3110 on the directions X by line slideway 3132 with being shifted, and can be supported on directions X with respect to base portion 3110 by first supporting member 3126 and second supporting member 3127 that is separated by partition board portion 3120b drivenly and flexibly.Equally, because the 3rd supporting member has aforesaid structure, therefore, base 3116 is supported on the Y direction with respect to the horizontal protuberance 3022c that is fixed on the manipulator 3022 by the 3rd supporting member drivenly and flexibly.

Simultaneously, second movable part 3102 has downwards side 3102a and another side 3102c that extends, described another side 3102c is provided with first retainer 3134 as first sticking department, and this first retainer 3134 can engage with second retainer 3136 of the front end that is located at horizontal protuberance 3022c.That is, the front end of first retainer 3134 is protuberances of truncated cone shape roughly, and second retainer 3136 is the recesses of general conical that can insert the front end of first retainer 3134.Therefore, as shown in figure 29, at piston rod 3104 interval between hemming roller 3030 and the guide roller 3032 is opened under the maximum state by draft cylinder 3106, promptly before flanging described later processing or flanging processing afterwards under hemming roller 3030 and the state that vehicle 3012 separates, first retainer 3134 engages with second retainer 3136.On the other hand, as shown in figure 30, make under the state that the interval between hemming roller 3030 and the guide roller 3032 diminishes at piston rod 3104 by withdrawal cylinder 3106, promptly flanging described later add man-hour hemming roller 3030 with vehicle 3012 state of contact under, first retainer 3134 does not engage with second retainer 3136.

In addition, piston rod 3104 at cylinder 3106 is stretched, under first retainer 3134 and the state (referring to Figure 29) that second retainer 3136 engages, first movable part 3100 is by by being connected the effect with second movable part, the 3102 one rightabout pushing forces of side that produce of piston rod 3104 on the cylinder 3106, contacts with front end supporting member 3118 and by its supporting.On the other hand, piston rod 3104 at cylinder 3106 is contracted, under first retainer 3134 and second retainer, the 3136 asynthetic states (referring to Figure 30), the effect to the tractive force of second movable part 3,102 one sides of first movable part 3100 by being produced by piston rod 3104 keeps and state that second movable part 3102 is approaching.

Folding cell 3020 according to second illustrative embodiments is configured as mentioned above.Therefore, under first retainer 3134 and second retainer, 3136 asynthetic states as shown in figure 30, first movable part 3100 and second movable part 3102 by line slideway 3130 and 3132 on the directions X integratedly and can be bearing on the base portion 3110 with being shifted, and the displacement on directions X is by first supporting member 3126 and second supporting member, 3127 driven ground and flexibly supporting.In addition, the base portion 3116 that supports first movable part 3100 and second movable part 3102 by this way also can be passed through line slideway 3112 at Y direction superior displacement by manipulator 3022 supportings, and the displacement on the Y direction is by the 3rd supporting member 3038 driven ground and flexibly supporting.Therefore, in this case, first movable part 3100 and second movable part 3102, in other words, hemming roller 3030 and guide roller 3032 can be shifted on directions X and Y direction ground and being bearing on the manipulator 3022 drivenly He flexibly.Promptly, the line slideway 3112,3130 and 3132, first supporting member 3126, second supporting member 3127 and the 3rd supporting member 3138 are as the floating type mechanism between folding cell 3020 and manipulator 3022, and the performance of following the guide roller 3020 of first groove 3052 or second groove 3054 in flanging processing obtains significant improvement, hemming roller 3030 can and accurately be followed flange 3017 with higher speed, will be described in detail (referring to Figure 34 and Figure 35) after a while to this.

On the other hand, under first retainer 3134 as shown in figure 29 and state that second retainer 3136 engages, first movable part 3100 and second displacement of movable part 3102 on directions X are subjected to making the restriction of the power that the piston rod 3104 of cylinder 3106 stretches out, and the displacement of base portion 3110 on the Y direction is subjected to the restriction of the joint of first retainer 3134 and second retainer 3136.In this case, the floating type action of floating type mechanism is restricted, and hemming roller 3030 and guide roller 3032 are supported regularly by manipulator 3022.Therefore, for example,,, can position fast, will be described in detail this after a while when making hemming roller 3030 and guide roller 3032 near with positioned vehicle 3012 with move moulds 3018 the time by limiting floating type mechanism in the flanging first being processed.

Next, explanation is moved moulds 3018.As shown in figure 31, moving moulds 3018 is that matrix constitutes with Die and mould plate 3049.Die and mould plate 3049 is configured to tabular, and its side that contacts with wheel cover arch 3016 is called surperficial 3049a (referring to Figure 32), an opposite side is called back side 3049b and is distinguished.In addition, the workpiece side (upside Figure 32) when the end 3016a of wheel cover arch 3016 observes is called the inboard, and its opposite side (downside among Figure 32) is called the outside, to show difference.

Die and mould plate 3049 is made of arch sheet, and its surperficial 3049a contacts with around the wheel cover arch 3016, and surperficial 3049a is set at the three-dimension curved surface that the surface with vehicle 3012 adapts.Therefore, when moving moulds 3018 when being connected on the wheel cover arch 3016, first groove 3052 and second groove 3054 be arranged in parallel with flange 3017, and surperficial 3049a contacts with vehicle 3012 large tracts of land ground.

Move moulds and 3018 comprise: the outer arc portion 3050 that forms along the outside of the end 3016a of wheel cover arch 3016 substantially, 3049b goes up first groove 3052 and second groove 3054 that is set parallel to each other along outer arc portion 3050 overleaf, be located at and handle knob 3056 on the 3049b of the back side, be located at three clamp mechanism 3058 on every side that move moulds, supply with and reclaim the pipe 3060 of compressed fluid and carry out the control valve 3062 of switching controls to clamp mechanism 3058 managing 3060 etc. the fluid direction of the supply.Control valve 3062 is by controller 3024 controls.First groove 3052 be arranged on the Die and mould plate 3049 from the outstanding outside of the end 3016a of flange 3017, second groove 3054 is arranged on the inboard of end 3016a.

3018 only with around the wheel cover arch 3016 contact owing to move moulds, so it is a small mould.In addition, 3018 contact vehicle 3012 from the side owing to move moulds, thus do not increase the weight of vehicle 3012 on 3018 moving moulds, and because this moves moulds 3018 is not anti-load structure, so can be set at the structure of light weight.Therefore, move moulds and 3018 can grasp by manipulator 3022 usefulness chucks 3034 and handle knob 3056 and move (referring to Figure 26 and 27) simply and easily.

Clamp mechanism 3058 comprises: the strut 3064 that extends out from the end of Die and mould plate 3049, be arranged on the cylinder 3066 on the strut 3064 and be centroclinal opening 3068 with the bolster that is located on the strut 3064 pivotly.One end of opening 3068 is formed in the reference position joint of vehicle 3012 and the clamping part 3068a that keeps, and the end of its opposition side rotatably engages with the piston rod 3066a of cylinder 3066 via bolster.Promptly, thereby the piston rod 3066a by draft cylinder 3066 closes opening 3068 by clamping part 3068a maintenance vehicle 3012, open opening 3068 (referring to the double dot dash line part among Figure 31) by shrinking piston rod 3066a, making moves moulds 3018 can be toward or away from vehicle 3012.Though the stop position of vehicle 3012 on production line 3014 compared adjusted value and had some deviations sometimes, can 3018 accurately be positioned on the wheel cover arch 3016 moving moulds by clamp mechanism 3058.

When clamp mechanism 3058 will move moulds 3018 when being fixed on the wheel cover arch 3016, shown in figure 32, outer arc portion 3050 is arranged on the outside (downside among Figure 32) of the end 3016a of wheel cover arch 3016.First groove 3052 is in the outside slightly of end 3016a, and second groove 3054 is compared in the inner part with end 3016a.That is, first groove 3052 and second groove 3054 are arranged in parallel at the roughly symmetric position upper edge end 3016a that with end 3016a is benchmark.

Next, with reference to Figure 33 the processing method of using the flange 3017 of 3010 pairs of wheel cover arch 3016 of hemming working apparatus as constituted above to carry out flanging processing is described.Operation shown in Figure 33 mainly be under the control of controller 3024 by move moulds 3018, folding cell 3020 and manipulator 3022 realize.

At first, in step S301, after the information of the type of vehicle that next transports the vehicle 3012 that comes from the production control computer affirmation, manipulator 3,022 3018 is put back into current moving moulds of grasping on the adjustment position of taking in platform 3026, and grasps with corresponding other of type of vehicle by chuck 3034 and to move moulds 3018.Keeping just not needing this changing to hold operation under corresponding 3018 the situation of moving moulds, in addition, when transporting the vehicle 3012 of many same vehicle types, also needn't change to hold certainly and move moulds 3018.

In step S302, come standby before vehicle 3012 transports by the signal of confirming photoelectric sensor 3023.Vehicle 3012 transports by production line 3014, and near the specified location manipulator 3022 stops.Operation enters into step S303 when confirming that by photoelectric sensor 3023 vehicle 3012 has been transported to.

In step S303, so that 3018 the surperficial 3049a of moving moulds contact with the wheel cover arch 3016 of vehicle 3012, and pass through switching drive control valve 3062 by making manipulator 3022 action, the opening 3068 of clamp mechanism 3058 is closed.Thus, move moulds and 3018 be installed on the wheel cover arch 3016 and positioning and fixing accurately.That is, in this step S303, stop fully, move moulds 3018 near vehicle 3012, make positioning and fixing become simple and convenient by what make small-sized light weight as the vehicle 3012 of large-scale weight thing.

And, can 3018 confirm in real time moving moulds by the sensor of appointment with respect to the position of wheel cover arch 3016, the mobile alignment of revising manipulator 3022 simultaneously make move moulds 3018 approaching.In addition, can reference pins be set on 3018 moving moulds, position in the datum hole of the appointment by reference pins being inserted vehicle 3012.Certainly, also can and use these localization methods.

In step S304, after the hook 3036 of opening chuck 3034, make folding cell 3020 from 3018 separation temporarily that move moulds.

In step S305, changed folding cell 3020 towards after, make its near and be positioned in 3018 the outer arc portion 3050 of moving moulds, and guide roller 3032 is bonded in first groove 3052.

At this moment, in folding cell 3020, the piston rod 3104 by draft cylinder 3106 is engaged with each other first retainer 3134 and second retainer 3136.Therefore, interval between hemming roller 3030 and the guide roller 3032 is in greatest separation, make flange 3017 and Die and mould plate 3049 can be easily inserted in the separated portions, and, by keeping folding cell 3020 to be in the state of the floating type action of restriction, hemming roller 3030 and guide roller 3032 position being fixed on the manipulator 3022 integratedly and not producing under the state of swing or barreling.Promptly, the hemming working apparatus 3010 of the present embodiment only piston rod by draft cylinder 3,106 3104 just can be realized simple good positioning function that hemming roller 3030 and guide roller 3032 are fully separated, and simultaneously by limiting swing or the barreling that floating type mechanism stops the folding cell 3020 that comprises hemming roller 3030 and guide roller 3032.

Therefore, conduplication side roller 3030 and guide roller 3032 position accurately and quickly, and then can shorten circulation timei.In addition, even in step S304, S305 is similar with step, floating type action that can conduplication side unit 3020 limits, in this case, in the operation of mobile manipulator 3022, just can limit because folding cell 3020 swings or barreling cause that noise or vibration appear in the leading section at manipulator 3022.

In step S306, shrink the piston rod 3104 of cylinder 3106, make guide roller 3032 and hemming roller 3030 closer to each other, shown in figure 32, clamp by guide roller 3032 and cylinder roller 3040 and to move moulds 3018.At this moment, flange 3017 is by tapered roll 3038 pushing, tilts 45 ° and crooked along the conical surface.In addition, clearly illustrate among Figure 32, the distance between guide roller 3032 and the cylinder roller 3040 is adjusted into the bottom of first groove 3052 and the width w between the surperficial 3049a, can't make guide roller 3032 and cylinder roller 3040 exceedingly approaching.So flange 3017 can be more than the crooked adjustment amount, or produce uneven shape.And, because guide roller 3032 is consistent each other with the position of cylinder roller 3040 on the Y direction, so can positively clamp and move moulds 3018 by guide roller 3032 and cylinder roller 3040 are set.Thus, need not 3018 apply moment and just can prevent elastic deformation and deviation moving moulds.

In addition at this moment, making tapered roll 3038 pushing flanges 3017 by the piston rod 3104 that shrinks cylinder 3106 when, the joint between first retainer 3134 and second retainer 3136 is released and in the restriction of folding cell 3020 places cancellation to floating type mechanism.Promptly, hemming working apparatus 3010 according to second illustrative embodiments, the operation of the piston rod 3104 by shrinking cylinder 3106 simply, can push the operation of flange 3017 by tapered roll 3038, and, in order to prepare flanging processing, also cancel restriction to floating type mechanism, will be explained in the following steps.

In step S307, as shown in figure 34, it is rotated by guide roller 3032 is bonded on, make the flange 3,017 first flanging operation of 45 ° of oblique bendings of direction to the inside continuously.Promptly, distance between extruding force and hemming roller 3030 and the guide roller 3032 is being remained under the state of predetermined value, hemming roller 3030 and guide roller 3032 roll in the mode of rotating to opposite mutually direction, and carry out the first flanging operation by the taper seat continuous bend flange 3017 of tapered roll 3038.At this moment, because hemming roller 3030 and guide roller 3032 are by the supporting of above-mentioned floating type mechanism, therefore hemming roller 3030 can be to directions X and the displacement of Y direction in the relative position of maintenance with guide roller 3032, even and the work track of manipulator 3022 has certain error, guide roller 3032 also can move under the guiding of first groove 3052 exactly, so hemming roller 3030 and guide roller 3032 can rotate with higher speed.

Therefore, tapered roll 3038 can and make its distortion along the direction pushing flange of adjusting 3017.In addition, there is no need to make the operation precision of manipulator 3022 extremely high, the just simplification of high speed that can obtain to move and control sequence.The flanging processing that the first flanging operation is carried out is what the total length of flange 3017 was carried out.

In step S308, shown in the double dot dash line among Figure 35, the piston rod 3104 of cylinder 3106 is stretched more or less, distance between hemming roller 3030 and the guide roller 3032 is prolonged slightly and from vehicle 3012 with move moulds and 3018 leave.In this case, when the piston rod 3104 of cylinder 3106 is stretched to maximum, the floating type mechanism of folding cell 3020 is limited, in following steps S309, can position apace, but, according to present embodiment, consider that in following steps S309 for example folding cell 3020 is moved relatively short distance, so piston rod 3104 is stretched as mentioned above more or less.

In step S309, by making before the folding cell 3020 and then hemming roller 3030 and guide roller 3032 being advanced to arrow Y1 direction.This displacement and first groove 3052 equate with distance between second groove 3054.

In step S310,, guide roller 3032 is bonded in second groove 3054 by shrinking the piston rod 3104 of cylinder 3106.In addition, make guide roller 3032 and hemming roller 3030 closer to each other, as shown in figure 35, will move moulds by guide roller 3032 and cylinder roller 3040 and 3018 to clamp and to push.Like this, make guide roller 3032 simple from the operating process of first groove 3052 when second groove 3054 moves, and folding cell 3020 towards keeping certain guide roller 3032 simultaneously only to move to arrow Y1 direction.In addition, because displacement is shorter relatively, can finish at short notice so move.

In addition this moment, flange 3017 is crooked by 3040 pushings of cylinder roller, contacts up to the back side with wheel cover arch 3016.That is, flange 3017 is from further crooked 45 ° of the first flanging operations, from 90 ° of initial angular bend.

In step S311, as shown in figure 36, guide roller 3032 be bonded on make simultaneously in second groove 3054 its rotation, carry out the second flanging operation that flange 3017 bendings are contacted up to the back side with wheel cover arch 3016 thus continuously.Promptly, pushing force between hemming roller 3030 and the guide roller 3032 or distance are being remained under the state of designated value, by along opposite direction rotation hemming roller 3030 and guide roller 3032, with flange 3017 continuous bendings, carry out the second flanging operation thus by the periphery disc of cylinder roller 3040.

In addition, because second groove 3054 is located at back side 3049b one side of Die and mould plate 3049, flange 3017 and Die and mould plate 3049 are clamped and are urged effectively by cylinder roller 3040 and guide roller 3032, and pushing force is not distributed to other parts and the retainer of pushing force without limits, so the pushing force concentrated area acts on the flange 3017.Thus, flange 3017 is crooked effectively.

In the second flanging operation, similar with the first flanging operation, by the action of floating type mechanism, hemming roller 3030 and guide roller 3032 are moving on the accurate path of second groove 3054, and flange 3017 total lengths are processed.

In step S312, S308 is similar with step, shrinks the piston rod 3104 of cylinder 3106, and the distance between hemming roller 3030 and the guide roller 3032 is prolonged a little, so that it 3018 leaves from moving moulds.And make that folding cell 3020 is away from keyboard to move moulds 3018.

In step S313,3018 the processing of opening moves moulds.That is, change folding cell 3020 towards after, it is controlled near back side 3049b and by chuck 3034 handles knob 3056, and then the opening 3068 of clamp mechanism 3058 is opened by driving switching control valve 3062.

Carrying out standby in step S314 handles.That is, make to move moulds by the position of readiness that makes manipulator 3022 move to appointment and 3018 leave from vehicle 3012.Controller 3024 is to production control computer notice flanging processing normal termination.The production control computer of accepting after the notice also carries out the affirmation rear drive production line 3014 that condition is set up at the regulation important document to other, and the vehicle 3012 of flanging process finishing is transported to next process.

As mentioned above, hemming processing method and hemming working apparatus according to second illustrative embodiments, owing to comprise that the folding cell 3020 of hemming roller 3030 and guide roller 3032 is by comprising line slideway 3112,3130 and 3132, first supporting member 3126, the floating type mechanism of second supporting member 3127 and the 3rd supporting member 3138 can be bearing on the manipulator 3022 on directions X (bolster 3030a and bolster 3032a direction arranged side by side) and Y direction (bolster 3030a and bolster 3032a's is axial) with being shifted, so following the performance of the guide roller 3032 of first groove 3052 and second groove 3054 in flanging processing obviously is improved, hemming roller 3030 can be followed flange 3017 exactly, and then can avoid the defective of guide roller 3032 on first groove 3052 or second groove 3054.In addition, by floating type mechanism, even the work track of manipulator 3022 has certain error, guide roller 3032 also can be followed first groove 3052 and be moved exactly.So hemming roller 3030 and guide roller 3032 can rotate with higher speed, and then can shorten the required working time of flanging processing.

In addition, because hemming working apparatus 3010 comprises first retainer 3134 and second retainer 3136 of the restraint device that is configured for limiting floating type mechanism, so can limit the action of floating type mechanism according to each job step.Therefore, by limiting the action of floating type mechanism when locating hemming roller 3030 and guide roller 3032, hemming roller 3030 and guide roller 3032 can position under the state that is fixed on integratedly on the manipulator 3022 exactly and apace, and do not produce swing or barreling.

In addition, according to second illustrative embodiments,, can select to use or limit floating type mechanism according to each procedure with the stretching or the shrinkage operation of the piston rod 3104 that is used to make hemming roller 3030 and guide roller 3032 approaching and distancing cylinders 3106.That is, when location hemming roller 3030 and guide roller 3032, be used to make piston rod 3104, the first retainers 3134 that hemming roller 3030 separates with guide roller 3032 and second retainer, 3136 joints and floating type mechanism to be restricted by stretching.On the other hand, in flanging processing, be used to make hemming roller 3030 and guide roller 3032 approximating piston rod 3104, the first retainers 3134 and second retainer 3136 to be disengaged and can operate floating type mechanism by contraction.Therefore,, can realize the using and limiting of floating type mechanism by simple mechanism according to hemming working apparatus 3010, and can simplified apparatus and reduce cost.

In addition,, move moulds 3018, carry out flanging processing by making the vehicle 3012 that transports on these 3018 contact production lines 3014 that move moulds, and do not need the private space of flanging processing usefulness by what use small-sized light weight according to hemming working apparatus 3010.In addition, all on production line 3014, carry out,, improved production efficiency so do not have only vehicle 3012 to be transported to the labour and the time of other private spaces for flanging processing because flanging processing is assembled with other and procedure of processing is similar.And, according to hemming working apparatus 3010,, can both be suitable for hemming working apparatus 3010 so have nothing to do with the size of workpiece on one side owing to make to move moulds and 3018 contact with the processing part of workpiece and to process.The 3018 small-sized light weights owing to move moulds, so can a plurality ofly move moulds 3018 taking in to take on the platform 3026, not only made things convenient for it is stored and controls, simultaneously manipulator 3022 can be selected to move moulds and 3018 carry out flanging processing at type of vehicle, has improved versatility.

And, owing to hemming roller 3030 can all be used when the first flanging operation and the second flanging operation, so do not need more roll change.Because first groove 3052 and second groove 3054 are located on back side 3049b one side, so when the second flanging operation, can clamp flange 3017 and Die and mould plate 3049 and pressurize by cylinder roller 3040 and guide roller 3032.

And, can be also used as the processing unit (plant) of move moulds 3018 mobile device and flanging processing according to 3010, one manipulators 3022 of hemming working apparatus.

In addition, the present invention is not limited to above-mentioned embodiment, certainly, can carry out various structures under the condition that does not depart from purport of the present invention.

For example, although according to second illustrative embodiments, in order to simplify the internal structure of an organization and to control, with hemming roller 3030 and guide roller 3032 approaching and distancing operations are come together make as first retainer 3134 of the restraint device of floating type mechanism and the operation that engages of second retainer 3136, but the present invention is not limited to this, restraint device can make the action of restraint device be independent of hemming roller 3030 and guide roller 3032 approaching and actions away from each other by controller 3024 controls such as grade.

In addition, first groove 3052 and second groove 3054 are not necessarily limited to flute profile, as long as can guide guide roller 3032, for example, by forming outstanding guide rail (gib block), can endless groove be set at the outer peripheral face of guide roller 3032.

In addition, floating type mechanism is except being applied in the hemming working apparatus as the use guide roller 3032 in the present embodiment, also may be used on for example not being provided with in the equipment of guide roller 3032, in the described equipment that is not provided with guide roller 3032, the upper surface of second movable part 3102 is furnished with hemming roller 3030, front end supporting member 3138 extends to downside, and the piston rod 3104 of cylinder 3106 is fixed on the front end supporting member 3118.In addition, according to the situation of using hemming working apparatus etc., floating type mechanism certainly is set to only operate in guide roller 3,032 one sides or hemming roller 3,030 one sides.

Although according to hemming working apparatus 3010, show the example of the wheel cover arch 3016 of the left rear wheel of vehicle 3012 being implemented flangings processing, yet the present invention is not limited to this, certainly, for other positions, also can be suitable for by setting corresponding moving metal mould.As the position that is suitable for carrying out flanging processing, adducible have, for example front-wheel shroud rim portion, vehicle door edge portion, hood edge part and the luggage boot edge part etc. in the vehicle 3012.In addition, the roll-type flanging is not limited to the situation of bending a slice thin plate, for example, can clamp the end as the inner panel of thin plate of establishing in addition by bending flange 3017.

＜the three illustrative embodiments 〉

As shown in figure 37, hemming working apparatus 5010 according to the 3rd illustrative embodiments is arranged on the intermediate steps of the production line 5014 that the vehicle (workpiece) 5012 that is in so-called body in white state is assembled and processed, and the flange 5017 of the wheel cover arch 5016 that is positioned at left rear wheel one side is carried out the equipment of roll-type flanging processing.Wheel cover arch 5016 is configured to 180 ° roughly circular shape.Undertaken under the state of first being processed by hemming working apparatus 5010, flange 5017 is configured to crooked 90 ° the shape to the inside from the end 5016a (referring to Figure 42) of wheel cover arch 5016.

Hemming working apparatus 5010 comprise move moulds 5018, manipulator 5022, photoelectric sensor 5023 and controller 5024, wherein, move moulds and 5018 contact with wheel cover arch 5016 as the vehicle 5012 of workpiece, manipulator 5022 is used to make move moulds and 5018 moves, and the front end at manipulator 5022 has folding cell 5020, photoelectric sensor 5023 is used to detect the assigned address whether vehicle 5012 is transported on the production line 5014, and controller 5024 is used to carry out overall control.

Manipulator 5022 is industrial joint motions type, folding cell 5020 can be moved to any position and be moved into any posture by procedure operation.Be provided with near manipulator 5022 and take in platform 5026,5018 be configured in and take in the platform 5026 with corresponding polytype the moving moulds of the type of vehicle 5012, this position data of taking in platform 5026 is stored in the controller 5024.Controller 5024 is connected on the outside production control computer (not shown) that the operation of production line 5014 is controlled, and the information of the type of the vehicle 5012 that transports on production line 5014 etc. is provided to controller 5024.

As shown in figure 38, folding cell 5020 has from outstanding hemming roller 5030 and guide roller 5032 that is provided with of its end face and the chuck 5034 that is located at side surface part.Chuck 5034 has a pair of hook 5036 of open and close under the effect of controller 5024, and this chuck 5034 is used for moving moulds 5018.

Hemming roller 5030 and guide roller 5032 are by bolster 5030a and rotatably supporting vertically of 5032a.In addition, hemming roller 5030 and guide roller 5032 can be gone up in Y direction (direction that bolster 5030a and 5032a are arranged side by side) and move, can regulate the interval between bolster 5030a and the 5032a, and can be to the member pressurization of clamping by hemming roller 5030 and guide roller 5032.And, hemming roller 5030 and guide roller 5032 are configured to so-called floating structure, they can be gone up and move in Y direction and directions X (bolster 5030a and 5032a's is axial) when keep relative position, and by the driven ground of external force and flexibly mobile.In addition, bolster 5030a and 5032a can move on directions X and Y direction in the interval that regulates that keeps therebetween linkedly.

Hemming roller 5030 is formed by the tapered roll 5038 that is located at front with the cylinder roller 5040 that is located at base end side that tapered roll 5038 one constitute.Tapered roll 5038 is the frustum of a cone of the convergent shape of 45 ° of inclinations when side-looking, the long L1 of its rib (referring to Figure 42) is configured to slightly longer than the height H (referring to Figure 42) of flange 5017.Cylinder roller 5040 be diameter than the bigger drum of maximum gauge portion on the base end side of tapered roll 5038, and the high L2 (referring to Figure 42) axially sets for obviously bigger than the high H of flange 5017.

Guide roller 5032 is configured to periphery and is set in a narrow margin disc-shape, and can be bonded in first groove (guide part) 5052 or second groove (guide part) 5054 (referring to Figure 42) that moves moulds on 5018.

As Figure 39 and shown in Figure 40, moving moulds 5018 is that matrix constitutes with Die and mould plate 5049.Die and mould plate 5049 is configured to tabular, and its side that contacts with wheel cover arch 5016 is called surperficial 5049a, an opposite side is called back side 5049b and is distinguished.In addition, the workpiece side when the end 5016a of wheel cover arch 5016 observes is called inboard (arrow A 1 side), and its opposite side is called the outside (arrow A 2), to show difference.

Die and mould plate 5049 is made of arch sheet, and its surperficial 5049a contacts with around the wheel cover arch 5016, and surperficial 5049a is set at the three-dimension curved surface that the surface configuration with vehicle 5012 adapts.Therefore, when moving moulds 5018 when being connected on the wheel cover arch 5016, first groove 5052 and second groove 5054 be arranged in parallel with flange 5017, and surperficial 5049a contacts with vehicle 5012 large tracts of land ground.

Move moulds and 5018 comprise: along the end 5016ad of wheel cover arch 5016 slightly the outer arc portion 5050 that forms of the outside, 5049b goes up first groove 5052 and second groove 5054 that are provided with along outer arc portion 5050, is located at three adsorbing mechanisms (erecting device) 5058 of handling knob 5056, being set up in parallel on top on the 5049b of the back side and is used to aspirate pipe 5060 via the air of adsorbing mechanism 5058 overleaf.First groove 5052 is located at the outside of the end 5016a that is positioned at flange 5017 on the Die and mould plate 5049, and second groove 5054 is located at the inboard of end 5016a.In addition, move moulds and 5018 comprise two outstanding alignment pins 5062 and from the bottom respectively towards downside outstanding gradually rake (distance limit portion) 5063a and 5063b.The highest portion of the lower end of rake 5063a and 5063b is set at slightly higher than the high H of flange 5017.

In addition, be used for 5018 devices that are installed on the wheel cover arch 5016 that move moulds are not limited to adsorbing mechanism 5058, can also use the clamp mechanism etc. that grasps the specified portions of vehicle 5012 by bar etc., perhaps and with clamp mechanism etc. and adsorbing mechanism 5058.

The diameter of alignment pin 5062 is set in the locating hole 5065 (referring to Figure 37) that can be inserted into vehicle 5012, and the front end of alignment pin 5062 is the taper that attenuates so that insert.In addition, because it is 5018 main by adsorbing mechanisms 5058 supportings and fixing to move moulds, be used to support the intensity of 5018 own wts of moving moulds so alignment pin 5062 needn't have, it is made of elongated diameter is enough.

The side of rake 5063a and 5063b is made of the face identical with outer arc portion 5050, and another side is formed on the position near flange 5017 (referring to Figure 42).The inclined plane of rake 5063a and 5063b is crooked gradually face, and the upper end smooth connection of rake 5063a and 5063b is to surperficial 5049a.

As shown in figure 41, adsorbing mechanism 5058 comprises clamper 5066 that is located at downstairs portion 5064 places that constitute by finished surface 5049a slightly and the pump orifice 5068 that is communicated with clamper 5066.Clamper 5066 is made of the double-deck adsorption section 5067a of elastic component (for example, rubber, sponge etc.) composition and the base portion 5067b harder than adsorption section 5067a, and base portion 5067b is fixed in the downstairs portion 5064.Clamper 5066 is outstanding slightly from surperficial 5049a.

The surface of clamper 5066 is provided with many lateral apertures 5070.Lateral aperture 5070 is connected in one and is communicated with pump orifice 5068 at base portion 5067b place.Pump orifice 5068 is connected on the pipe 5060 by connector 5072.

According to adsorbing mechanism 5058, by finishing from the absorption of each lateral aperture 5070 suction airs action from managing 5060 suction airs, clamper 5066 can be adsorbed on the surface of wheel cover arch 5016, moves moulds 5018 to be fixed.At this moment, the adsorption section 5067a of clamper 5066 is adsorbed by elastic compression slightly.Can be by using injector, vavuum pump etc. from managing 5060 suction airs.

Move moulds 5018 only with wheel cover arch 5016 around contact, so it is a small mould.In addition, 5018 contact vehicle 5012 from the side owing to move moulds, thus do not increase the weight of vehicle 5012 on 5018 moving moulds, and because this moves moulds 5018 is not anti-load structure, so can be set at the structure of light weight.Therefore, move moulds and 5018 handle knob 5056 and can move simply and easily by manipulator 5022 by grasping with chuck 5034, and can be by adsorbing mechanism 5058 absorption.

When move moulds 5018 when being fixed on the wheel cover arch 5016 by adsorbing mechanism 5058 under the state by alignment pin 5062 location, as shown in figure 42, outer arc portion 5050 is arranged on the outside (downside among Figure 42) of the end 5016a of wheel cover arch 5016.First groove 5052 is compared with end 5016a slightly and is provided with in the outer part, and second groove 5054 is compared with end 5016a in the inner part and is provided with.First groove 5052 and second groove 5054 are arranged in parallel along end 5016a.

Next, with reference to Figure 43 and Figure 44 the processing method of using the flange 5017 of 5010 pairs of wheel cover arch 5016 of hemming working apparatus as constituted above to carry out flanging processing is described.Operation shown in Figure 43 and Figure 44 mainly be under the control of controller 5024 by move moulds 5018, folding cell 5020 and manipulator 5022 realize.

At first, in step S501, after the information of the type of vehicle that next transports the vehicle 5012 that comes from the production control computer affirmation, manipulator 5,022 5018 is put back into current moving moulds of grasping on the adjustment position of taking in platform 5026, and grasps with corresponding other of type of vehicle by chuck 5034 and to move moulds 5018.Keeping just not needing this changing to hold operation under corresponding 5018 the situation of moving moulds, in addition, when transporting the vehicle 5012 of many same vehicle types continuously, also needn't change to hold certainly and move moulds 5018.

In step S502, the standby before vehicle 5012 transports by the signal of confirming photoelectric sensor 5023.Vehicle 5012 transports by production line 5014, and stops near manipulator 5022.Operation enters into step S503 when confirming that by photoelectric sensor 5023 vehicle 5012 has been transported to.

In step S503, will move moulds 5018 is installed on the wheel cover arch 5016.Promptly, move moulds 5018 moving by manipulator 5022, and by come in the locating hole 5065 that alignment pin 5062 is inserted into vehicle 5012 to move moulds 5018 on vertical direction and horizontal direction, position after, further advance and move moulds 5018, clamper 5066 is slightly contacted with the surface of vehicle 5012.

And, reduce manipulator 5022 keep moving moulds 5018 power make move moulds 5018 can be with respect to vehicle 5012 elastic displacements after, contact with vehicle 5012 by adsorbing mechanism 5058 from managing 5060 suction airs, make move moulds 5018 surperficial 5049a.Thus, moving moulds 5018 is installed on the wheel cover arch 5016, and positioning and fixing exactly.

In step S504, after the hook 5036 of opening chuck 5034, manipulator 5022 and folding cell 5,020 5018 are separated from moving moulds.At this moment, 5018 be fixed on the vehicle 5012 by all-in-one-piece adsorbing mechanism 5058 is set with it owing to move moulds, so even separate when chuck 5034, moving moulds 5018 can not fall yet, its position can not change in other words.

In step S505, changed folding cell 5020 towards after, make it near moving moulds 5018 outer arc portion 5050, and guide roller 5032 be bonded in first groove 5052.

In step S506, make guide roller 5032 and hemming roller 5030 closer to each other, as shown in figure 42, clamp by guide roller 5032 and cylinder roller 5040 and to move moulds 5018.At this moment, the front of cylinder roller 5040 contacts with the bottom of rake 5063a, and tapered roll 5038 separates with flange 5017.

In step S507, by being bonded in first groove 5052, guide roller 5032 makes its rotation simultaneously, begin the first flanging operation.Rise at the beginning in the first flanging operation, thus since tapered roll 5038 separate with flange 5017 can not bent flanges 5017.

In step S508, when being rotated further when rotation and cylinder roller 5040 are connected on the rake 5063a when guide roller 5032 is bonded in first groove 5052, because rake 5063a is shortened gradually, as shown in figure 45, therefore contact the beginning Bending Processing with the end of flange 5017 by tapered roll 5038.Because rake 5063a further shortens when mobile folding cell 5020, so the bending angle of flange 5017 becomes big gradually.Like this, rake 5063a (and 5063b) is used as the operation of cam type, is used for coming the suitably distance between the limiting surface 5049a and cylinder roller 5040 according to part to be processed.

In step S509, when folding cell 5020 moved to the non-existent position of rake 5063a, as shown in figure 46, the whole substantially crest line of the side of tapered roll 5038 and the contacts side surfaces of flange 5017 were with 45 ° of flange 5017 bendings to the inside.

That is, in the first flanging operation, make hemming roller 5030 and guide roller 5032 to roll along the mode of opposite direction rotation and taper seat by tapered roll 5038 bending flange 5017 continuously.At this moment, because hemming roller 5030 and guide roller 5032 are made of floating structure, therefore can in the relative position that keeps between hemming roller 5030 and the guide roller 5032, make it at directions X and Y direction superior displacement, even and the work track of manipulator 5022 has certain error, guide roller 5032 also can move in first groove 5052 exactly.

Like this, as shown in figure 47, the end of flange 5017 keeps holding up and not processed state for 90 ° with respect to the surface one-tenth of wheel cover arch 5016, direction along flange 5017 extensions, it is big that gradual change is contended in bending, and in the non-existent part of rake 5063a, flange 5017 is by roughly 45 ° of bendings.

In addition, in another end of flange 5017, cylinder roller 5040 leans against on the inclined plane of rake 5063b, and tapered roll 5038 separates from flange 5017 gradually, will it be elaborated here.Therefore, similar to the end of a side of initial processing, along the bearing of trend of flange 5017, it is big that gradual change is contended in bending.

In step S510, shown in the double dot dash line among Figure 48, by distance between hemming roller 5030 and the guide roller 5032 is a little far prolonged and 5018 leave from moving moulds, and by folding cell 5020 is advanced, and hemming roller 5030 and guide roller 5032 are advanced along arrow X1 direction.This forward travel distance and first groove 5052 equate with distance between second groove 5054.

In the step S511 of Figure 44, as shown in figure 48, guide roller 5032 is bonded in second groove 5054.

In step S512, make guide roller 5032 and hemming roller 5030 closer to each other, will move moulds by guide roller 5032 and cylinder roller 5040 and 5018 clamp and push.At this moment, the base end side of cylinder roller 5040 contacts with the bottom of rake 5063b, and tapered roll 5038 separates from flange 5017.

In step S513, by being bonded in second groove 5054, guide roller 5032 makes its rotation simultaneously, begin the second flanging operation.Rise at the beginning in the second flanging operation, thus since tapered roll 5038 separate with flange 5017 can not bent flanges 5017.

In step S514, when being rotated further when rotation and cylinder roller 5040 are connected on the rake 5063b when guide roller 5032 is bonded in second groove 5054, because rake 5063b is shortened gradually, as shown in figure 49, therefore contact the beginning Bending Processing with the end of flange 5017 by tapered roll 5038.Because rake 5063b further shortens when mobile folding cell 5020, thus the bending of flange 5017 to contend gradual change big.

In step S515, when folding cell 5020 moves to the position that does not have rake 5063b, as shown in figure 50, make its bending and contact with the surface of wheel cover arch 5016 by cylinder roller 5040 pushing flanges 5017.That is, flange 5017 is from further crooked 45 ° of the first flanging operations, in other words from 90 ° of initial angular bend.

Because second groove 5054 is located at back side 5049b one side of Die and mould plate 5049, therefore flange 5017 and Die and mould plate 5049 are clamped to be urged effectively by cylinder roller 5040 and guide roller 5032, and pushing force is not distributed to other parts and is not used in the retainer of restriction pushing force, so the pushing force concentrated area acts on the flange 5017.Thus, flange 5017 is crooked effectively.

Like this, shown in Figure 51, hemming roller 5030 can be regulated the bending angle of flange 5017 rotating according to part to be processed in direction (Y direction) displacement vertical with the direction (Z direction) of flange 5017 extensions.Therefore, the end of flange 5017 is not processed and this end keeps becoming 90 ° of states of holding up with respect to the surface of wheel cover arch 5016, along the direction that flange 5017 extends, it is big that gradual change is contended in bending, in the non-existent part of rake 5063a, flange 5017 is by roughly 90 ° of bendings.Because along the bearing of trend of flange 5017, gradual changeization is contended in its bending, therefore can not assemble stress in the part, perhaps Ju Bu processing capacity can be not excessive, thereby can prevent that fold or crack from occurring.

In addition, in another end of flange 5017, cylinder roller 5040 leans against on the inclined plane of rake 5063a, and cylinder roller 5040 separates from flange 5017 gradually, will it be elaborated here.Therefore, similar to the end of initial processing, when another end of processing, along the bearing of trend of flange 5017, it is big that gradual change is contended in bending.

In step S516, distance between hemming roller 5030 and the guide roller 5032 is prolonged a little 5018 to leave from moving moulds.And make that folding cell 5020 is away from keyboard to move moulds 5018.

In step S517,5018 the processing of opening moves moulds.That is, change folding cell 5020 towards after, it is grasped near back side 5049b and by chuck 5034 handles knob 5056, finish suction in addition by managing 5060.

In step S518, carry out standby and handle.That is, make manipulator 5022 move to the position of readiness of appointment and make to move moulds and 5018 leave from vehicle 5012.Controller 5024 is to production control computer notice flanging processing normal termination.Accept the affirmation rear drive production line 5014 that the production control computer after the notice requires the condition of also carrying out to set up in the appointment to other, the vehicle 5012 of flanging process finishing is transported to next process.

Like this, according to hemming working apparatus 5010 and processing method, rotating in direction (Y direction) displacement vertical by making hemming roller 5030 with the direction of flange 5017 extensions, the bending angle of flange 5017 can be regulated according to part to be processed, thereby shape gradual change, fold or crack etc. can be prevented.At this moment, can regulate the displacement of hemming roller 5030 easily by rake 5063a and 5063b are set, wherein, the height of rake 5063a and 5063b changes on the direction that flange 5017 extends.Owing to do not have fold or crack, flange 5017 keeps high strength.

Next, 5018 carry out an improved example to moving moulds, promptly move moulds 5100 with reference to Figure 52 to Figure 54 explanation.In following explanation, the identical Reference numeral of element use with identical in the hemming working apparatus 5010 no longer is described in greater detail here.

Shown in Figure 52, moving moulds 5100 is that matrix constitutes with Die and mould plate 5049, this move moulds 5100 comprise outer arc portion 5102, overleaf first groove 5104 and second groove 5106,5056, three adsorbing mechanisms 5058 of handling knob that be arranged in parallel along outer arc portion 5102 of 5049b place, manage 5060 and two alignment pins 5062.Outer arc portion 5102, first groove 5104 and second groove 5106 are and outer arc portion 5050, first groove 5052 and second groove, 5054 corresponding parts.

Two bottom 5102a of outer arc portion 5102 extend along the direction (arrow A 2 directions) of separating with flange 5017c with 5102b.Except two bottom 5102a and 5102b, other parts of outer arc portion 5102 have the shape identical with outer arc portion 5050.

First groove 5104 and second groove 5106 be arranged in parallel with outer arc portion 5102, and 2 directions are extended from wheel cover arch 5016 along arrow A for two end (separated portions) 5104a, 5104b, 5106a, the 5106b part of two bottom 5102a and 5102b place (that is).In other parts except two end 5104a, 5104b, 5106a, 5106b (parallel part), first groove 5104 and second groove 5106 are arranged on the position identical with second groove 5054 with first groove 5052.

To move moulds 5018 similarly, will move moulds as constituted above by manipulator 5,022 5100 is transported near the vehicle 5012 that constitutes workpiece, and will move moulds by operation adsorbing mechanism 5058 and 5100 be installed on the vehicle body and it is positioned fixing.Afterwards, when guide roller 5032 is bonded in first groove 5104, make its rotation and carry out first flanging processing, when guide roller 5032 is bonded in second groove 5106, make its rotation and carry out the processing of second flanging.

Carry out first flanging processing first constantly and the last moment, shown in Figure 53 because first groove 5104 is quite far away apart from flange 5017, so hemming roller 5030 not with flange 5017 butts, flange 5017 keeps 90 ° of states of holding up.

In the processing of first flanging, when from the first constantly slight mobile folding cell 5020, owing to make first groove 5104 move closer to the position parallel with flange 5017, so shown in Figure 54, the end butt of tapered roll 5038 and flange 5017, thereby beginning Bending Processing.Owing to when mobile folding cell 5020, make first groove 5104, so the bending angle of flange 5017 becomes big gradually further near flange 5017.Afterwards, because first groove 5104 is arranged on the position identical with first groove 5052, so tapered roll 5038 makes flange 5,017 45 ° of oblique bendings to the inside.In addition, in the last moment of processing, owing to make first groove 5104 gradually away from the position parallel with flange 5017, so tapered roll 5038 is gradually away from flange 5017.

On the other hand, similar with the situation of first flanging processing even carrying out under the situation of second flanging processing, first constantly and the last moment, flange 5017 keeps the state holded up, and in the centre constantly, and flange 5017 is 90 ° of oblique bendings to the inside.Like this, according to move moulds 5100 hemming processing method of use, hemming roller 5030 is rotated in direction (directions X) displacement vertical along the direction (Z direction) of extending with flange 5017, can regulate the bending angle according to part to be processed.Therefore, similar to move moulds 5018 situation of use, can prevent flange 5017 shape gradual changes, fold or crack etc.At this moment, by disposing first groove 5104 and second groove 5106 can be regulated the displacement of hemming roller 5030 easily.

Although according to above-mentioned example, hemming roller 5030 is being rotated in direction (directions X or the Y direction) displacement vertical with the bearing of trend of flange 5017 by two end 5104a, 5104b, 5106a and 5106b of rake 5063a and 5063b or first groove 5104 and second groove 5106, yet is used to make the element of hemming roller 5030 displacements to be not limited to this.For example, can make hemming roller 5030 self displacement, simultaneously by the sensor feedback displacement of appointment by servomotor etc.

In addition, although with a manipulator 5022 not only as transporting 5018 the device but also of moving moulds as the device of mobile folding cell 5020, yet can use independent manipulator to carry out to transport move moulds 5018 the function and the function of mobile folding cell 5020 respectively.In addition, the system of bending flange 5017 be not limited to flange 5017 towards the inboard system of bending simply, but can be by bending flange 5017 with inner panel of clamping appointment etc.

＜the four illustrative embodiments 〉

Hereinafter with reference to roll-type fold method and the hemming roller of Figure 55 to Figure 70 explanation according to the 4th illustrative embodiments.Hemming roller 6010 according to the 4th illustrative embodiments is used in the roll-type hemming working apparatus 6011, shown in Figure 55, and implements roll-type fold method according to the 4th illustrative embodiments by roll-type hemming working apparatus 6011.In addition, the Welding Structure by using roll-type hemming working apparatus 6011 to make according to the 4th illustrative embodiments.

Shown in Figure 55, roll-type hemming working apparatus 6011 is the equipment that is used for the edge part of workpiece (Welding Structure) W that is made of outside plate 6012 and inner panel 6014 is carried out the processing of roll-type flanging, and this equipment comprises workbench 6016, manipulator 6018 that is used for holding workpieces W and the machining tool 6020 that is located at manipulator 6018 front ends.Workpiece W is bearing in the top of workbench 6016 via mould 6021.Workpiece automatic clearing apparatus by appointment can be transported to workpiece W on the workbench 6016 and from workbench 6016 workpiece W is transported out.

Manipulator 6018 is industrial joint motions type, and can move to any position and be moved into any posture in the actuating range of machining tool 6020.Manipulator 6018 can provide the action instruction, implements action effectively by the operation of instruction suspension bracket (not shown) simultaneously.In addition, instruct by using three-dimensional CAD (CAD) to wait to carry out off-line operation also can make manipulator 6018 under the situation of not moving conscientiously, provide action.Manipulator 6018 moves under the control of Assign Controller.

Machining tool 6020 is to be used to make the instrument of flange 6030 towards the inboard bending of outside plate 6012, this flange 6030 is the shapes of substantially perpendicularly holding up from the edge part of outside plate 6012, and the edge part 6014a that can clamp inner panel 6014 with its formation one (referring to Figure 61).Workpiece W forms one, and outside plate 6012 is located at downside, and inner panel 6014 is located at upside, with crawler type be fixed on the mould 6021, the edge part 6014a of inner panel 6014 is along the part setting for the treatment of bending of outside plate 6012.At this moment, flange 6030 extends upward.

The edge part 6014a of inner panel 6014 is provided with the projection 6032 of a plurality of compactings.Projection 6032 is in the position that can be clamped by the flange 6030 for the treatment of bending, especially, is in basically the position that can be clamped by the mid portion of the height of flange 6030.For example has predetermined equal intervals between the projection 6032.

Shown in Figure 56 and Figure 57, machining tool 6020 comprises hemming roller 6010 and is used for rotatably keeping the arcual component 6034 at the two ends of hemming roller 6010.Arcual component 6034 is connected on the axle foremost of manipulator 6018.Machining tool 6020 can be installed on the manipulator 6018 and also can disassemble from it.

Hemming roller 6010 comprises: first cylinder 6040, coaxial with first cylinder 6040 and the diameter diameter and first cylinder 6040 is identical and be used to push second cylinder 6042 and the shallow annular recess 6044 between first cylinder 6040 and second cylinder 6042 of the outside base portion 6030b of flange 6030 that is used to push end, the outside 6030a of flange 6030.The height H of the width of hemming roller 6010 and flange 6030 is (referring to Figure 59) about equally.

Next, carry out the process of roll-type flanging processing with reference to Figure 58 to Figure 68 explanation by using the 6011 couples of workpiece W of roll-type hemming working apparatus that constitute in the above described manner.In following explanation, according to shown in the order of step number process.

In the step S601 of Figure 58, at first workpiece W is fixed on the workbench 6010, make outside plate 6012 be positioned at downside, inner panel 6014 is positioned at upside.At this moment, the position of taking flange 6030 upwards to hold up.

In step S602, manipulator 6018 and mobile machining tool 6020.At this moment, contact with end, the outside 6030a of flange 6030 pushing and to make second cylinder 6042 to contact with the outside base portion 6030b of flange 6030 when pushing at first cylinder 6040 that makes hemming roller 6010, by making the hemming roller 6,010 45 ° of sides that push flange 6030 that tilt.Thus, flange 6030 is urged along the arrow A direction among Figure 59, and to be the center with crooked basic point P basically tilted 45 ° by bending suitably.

In step S603, carry out roll-type flanging processing first (being also referred to as pre-flanging processing) by the motion and the operation of manipulator 6018.That is, shown in Figure 59, roll, carry out the processing of roll-type flanging continuously so that 45 ° of flange 6030 direction bendings to the inside by making machining tool 6020 bearing of trend along flange 6030 when keeping hemming roller 6010 with respect to the posture of workpiece W.In addition, the bearing of trend of flange 6030 is restricted to directions X (first direction), is parallel to inner panel 6014 and is restricted to Y direction (second direction) perpendicular to the direction of directions X, is restricted to the Z direction perpendicular to the direction of directions X and Y direction.

Roll-type flanging processing is first carried out on the total length that passes through of flange 6030.In addition, although at Figure 59 and in after a while with Figure 61, Figure 64 and Figure 67 of mentioning, for the ease of understanding, the bearing of trend of flange 6030 is depicted as linear, and certainly, the bearing of trend of flange 6030 also can be two dimension or three-dimensional shaped form.When the bearing of trend of flange 6030 was shaped form, hemming roller 6010 was rolled by the operation of manipulator 6018 when keeping its axis direction and the direction (directions X) of flange 6030 is vertical.

In step S604, make the direction of hemming roller 6010 further tilt 45 ° so that its rotating shaft and inner panel 6014 surperficial parallel by manipulator 6018, edge part 6014a and flange 6030 these three blocks of plates of outside plate 6012, inner panel 6014 are clamped by first cylinder 6040, second cylinder 6042 and mould 6021 at this moment.Thus, the edge part 6014a of outside plate 6012, inner panel 6014 and flange 6030 are by consolidation.

In step S605, carry out the roll-type flanging processing second time (being also referred to as conventional flanging processing).That is,, machining tool 6020 is moved on the total length of bending part carry out the processing of roll-type flanging, so that the edge part 6014a of outside plate 6012, inner panel 6014 and flange 6030 threes form one (referring to Figure 61) by manipulator 6018.

Shown in Figure 60 and Figure 61, in the roll-type flanging processing second time, similar with roll-type flanging processing first, first cylinder 6040 is contacted with end, the outside 6030a of flange 6030 pushing and to make second cylinder 6042 to contact with the outside base portion 6030b of flange pushing, and on the arrow directions X, roll.In addition, owing to be provided with annular recess 6044 between first cylinder 6040 and second cylinder 6042, so this annular recess 6044 moves through projection 6032, and projection 6032 can not strike the beam.

In addition, in Figure 61 (and Figure 64),, machining tool 6020 is shown three-dimensionally with double dot dash line in order to show part to be processed.

In the roll-type flanging processing second time, the state that the little protuberance 6050 that extends along the arrow directions X keeps shown in Figure 61 and Figure 62.With projection 6032 is that mid portion width along the Y direction in plan view of the protuberance 6050 at center equates basically with the width B of annular recess 6044, acutangulate shape along the two ends of directions X, and the part outside protruding 6032 is a hollow structure.In addition, protuberance 6050 is configured to along the shape that descends towards the left and right sides of arrow directions X extension, and its top is limited by the position of projection 6032.

Although be urged with the face that second cylinder 6042 contacts with first cylinder 6040 hemming roller 6010 owing to flange 6030, but along the Y direction be provided with the projection the centre position since annular recess 6044 from it by and be not pressed, and this centre position is relatively protruding by the reaction force generation plastic deformation of projection 6032, has formed protuberance 6050 thus.

Next, in step S606, make hemming roller 6010 by manipulator 6018 is after benchmark rotates with the Z direction, shown in Figure 63 and Figure 64, first cylinder 6040 contacts flange 6030 pushing with second cylinder 6042, and rolls along the Y direction in the position that annular recess 6044 passes through above the projection 6032.

In step S606, owing to annular recess 6044 passes through from the top of projection 6032, so can not overwhelm projection 6032.In addition and since first cylinder 6040 and second cylinder 6042 above the hollow structure portion of protuberance 6050 by to push, therefore only extruded hollow portion is to overwhelm it, the result has formed the projection 6056 of layering.The projection 6056 of layering comprises two-layer, be the part of the protuberance 6050 of the projection 6032 of inner panel 6014 and outside plate 6012, this part by eliminating the hollow bulb that extends towards the left and right sides of protuberance 6050 with protuberance 6050 stays the upper strata that covers projection 6032.

Shown in Figure 65, the shape of the projection 6056 of layering is generally the quadrangular pyramid platform, by pair of parallel dotted line 6060,6060 that extends along directions X and four sides that constitute its bottom surface along the pair of parallel dotted line 6062,6062 that the Y direction is extended, furtherly, form each face smooth connection of quadrangular pyramid platform and the top of frustum and be roughly hemispherical.It is the path of B that dotted line 6060,6060 forms width, and in step S605, two ends of annular recess 6044 are passed through along this path, similarly, it is the path of B that dotted line 6062,6062 forms width, and in step S606, two ends of annular recess 6044 are passed through along this path.

In addition, because the cross section of shallow annular recess 6044 is circular arc, so the surface of first cylinder 6040 and second cylinder 6042 is the obtuse angle at the angle θ that two places, end (referring to Figure 60) of width B form, based on this obtuse angle shape, carry out the dotted line 6060,6060 in path of flanging processing and the pushing force that 6062,6062 places apply is suitably disperseed constituting, be difficult for leaving impression by hemming roller 6010.

The step S606 that all projectioies 6032 are formed the projection 6056 of layering carries out continuously.In the workpiece W that carries out flanging processing in the above described manner, because projection 6032 almost seamlessly engages with the projection 6056 of a plurality of layerings respectively, make outside plate 6012 and inner panel 6014 link together quite securely, and outside plate 6012 will further be connected securely with inner panel 6014 in next step welding step S607.

In addition, vertical mutually although the rotating direction of hemming roller 6010 in step S605 and its rotating direction in step S606 are preferably, however according to the design conditions of the position of projection 6032, roller can be along two cross one another different directions rollings.

In step S607, shown in Figure 66 and Figure 67, carry out spot welding by when pushing welding electrode 6070, on the projection 6056 of layering, applying voltage.At this moment, workpiece W ground connection.

By applying voltage to welding electrode 6070, shown in Figure 68, the part between flange 6030 and the inner panel 6014 forms nugget 6072 mainly due to fusion.In addition, the projection 6056 of layering is softened owing to being heated and owing to the pressure of welding electrode 6070 strikes the beam.Therefore, after stopping electrical conduction, be cooled and the weld mark 6074 of a part that is formed by spot welding of solidifying is the general plane shape.The spot welding step S607 that the projection 6056 of all layerings is implemented carries out continuously.Can carry out spot welding step S607 by the position that workpiece W is moved to outside the workbench 6016.

As mentioned above, roll-type fold method according to the 4th illustrative embodiments, when the directions X that extends along flange when hemming roller 6010 rolled, annular recess 6044 was passing through above projection 6032 on the top of flange to be bent 6030, and therefore projection 6032 does not strike the beam.In addition, when hemming roller 6010 was rolled along the Y direction vertical with directions X, annular recess 6044 passed through above projection 6032 equally, at this moment, was that the part that remains the protuberance 6056 of hollow projection along directions X at center is pressed with projection 6032.Therefore, flange 6030 is formed with the projection 6056 of little layering, and the projection of described layering 6056 covers the projection 6032 of inner panels 6014, after spot welding in electric current can concentrate thereon.

In addition, according to the hemming roller 6010 of the 4th illustrative embodiments, hemming roller 6010 is preferred for the roll-type fold method, and the projection 6032 of inner panel 6014 can not strike the beam.In addition, roll along the direction different by making hemming roller 6010 with projection 6,032 two of intersecting, the hollow protuberance that is positioned at projection 6050 places that with the projection is the center almost is eliminated, and forms the projection 6056 of layering thus, after spot welding in electric current can gather.

In addition, because hemming roller 6010 is not used deformable materials such as gel rubber material, so prolong its service life.

In addition, can obtain Welding Structure by workpiece W being carried out flanging processing and spot welding according to the 4th illustrative embodiments, in spot welding, electric current concentrates between projection 6056 two-layer of layering, by producing enough heats the projection 6056 of layering is melted reliably, and after solidifying, obtain bigger weld strength.The projection 6056 that Jia Gong Welding Structure can be by remaining on a part of layering around the weld mark 6074 slightly, dotted line 6060,6060 and 6062,6062 the less impression of part wait and discern by this way.

In addition, according to the fold method and the Welding Structure of the 4th illustrative embodiments, except hemming roller 6010, can also use according to the hemming roller 6080 of following improved example and 6090 etc.

Shown in Figure 69, hemming roller 6080 comprise coaxial and have first cylinder 6082 and second cylinder 6084 of same diameter and be arranged on first cylinder 6082 and second cylinder 6084 between and have a distance piece 6086 than minor diameter.As clearly illustrating among Figure 69, between first cylinder 6082 of hemming roller 6080 and second cylinder 6084, be formed with annular recess 6088.Hemming roller 6080 can be simply by using as two cylindrical members of first cylinder 6082 and second cylinder 6084 and so on and be inserted into distance piece 6086 therebetween that structure forms, promptly only construct, and in procedure of processing, it is not made and the low cost of manufacture of hemming roller 6080 by integrating step.

Shown in Figure 70, similar with hemming roller 6010, hemming roller 6090 comprises first cylinder 6040, second cylinder 6042 and has 45 ° of inclinations angle and be arranged on conus portion 6092 on the front side of first cylinder 6040.Has less stepped difference 6094 between the conus portion 6092 and first cylinder 6040.According to hemming roller 6090, in roll-type flanging processing first, flange 6030 is processed into crooked 45 ° by first cylinder 6040 being contacted with mould and conus portion 6092 being contacted with flange 6030.In addition, in second time during the roll-type flanging, shown in dotted line, can carry out Bending Processing to push, to make second cylinder, 6042 contact outside base portion 6030b to push and annular recess 6044 is rolled across above projection 6032 by end, the outside 6030a that makes first cylinder, 6040 contact flanges 6030.Therefore, between the roll-type flanging is processed first and for the second time, needn't change the direction of hemming roller 6090.In addition, dish type guide roller 6096 moves under the parallel state of its axis and hemming roller 6090 integratedly, can be provided with at the back side of mould 6021 to engage with guide roller 6096 and along the first gathering sill 6098a and the second gathering sill 6098b of directions X extension.In roll-type flanging processing first, guide roller 6096 engages with the first gathering sill 6098a and rolls thereon, and the conus portion 6092 with guiding hemming roller 6090 is used for 45 ° of flange 6030 bendings.In the roll-type flanging processing second time, guide roller 6096 engages with the second gathering sill 6098b and rolling thereon, make hemming roller 6090 first cylinder 6040 and second cylinder 6042 is pushed flange 6030 and annular recess 6044 passes through above protruding 6032.

＜the five illustrative embodiments 〉

Figure 71 is the perspective view that is used to illustrate that the edge part by the workpiece W that is made of outside plate 7012 and inner panel 7014 according to 7010 pairs of the hemming working apparatus of the 5th illustrative embodiments of the present invention carries out the action of flanging processing.The Bending Processing that the flange of substantially perpendicularly holding up from the edge part of the outside plate 7012 of workpiece W by bending according to the hemming working apparatus 7010 of the 5th illustrative embodiments 7016 carries out workpiece W.Hemming processing method according to the 5th illustrative embodiments is carried out by hemming working apparatus 7010.

Shown in Figure 71, hemming working apparatus 7010 comprises the manipulator (mobile device) 7022 that is used to that the workbench 7018 of workpiece W is installed and is used for supporting at its front end place folding cell 7020.Workpiece W is bearing in the top of workbench 7018 via mould 7024.In addition, the workpiece automatic clearing apparatus by appointment can be transported to workpiece W on the workbench 7018 and from workbench 7018 workpiece W is transported out.

Manipulator 7022 is industrial joint motions type, folding cell 7020 can be moved to any position and be moved into any posture by procedure operation.Manipulator 7022 can move instruction, implements action effectively by the operation of instruction suspension bracket (not shown) simultaneously.In addition, instruct by using three-dimensional CAD (CAD) to wait to carry out off-line operation also can make manipulator 7022 under the situation of not moving conscientiously, provide action.Manipulator 7022 moves under the control of the controller 7026 that constitutes control appliance.

Figure 72 is the local amplification view of periphery of bight Cn of radius of curvature with edge part of the workpiece W that is bearing on the mould 7024.In addition, Figure 72 shows outside plate 7012, inner panel 7014 and flange 7016, and they are generically and collectively referred to as workpiece W for the purpose of simplifying.

A surface (top) of mould 7024 is equipped with instrument W, and the back side (following) is formed with first groove 7027 and second groove 7028, shown in dotted line among Figure 72.First groove 7027 and second groove, 7028 usefulness act on guiding after a while with the guide part of the guide roller 7032 that is mentioned and form the parallel linearity configuration of linear segment with the edge part of workpiece W.That is, first groove 7027 and second groove 7028 be configured to be arranged essentially parallel to the linear segment of workpiece W and gradually away from or near the bight Cn of workpiece W.The reason that first groove 7027 and second groove 7028 be set like this is to be formed at when having relative Cn place, bight than small curvature radius along the shape of bight Cn bending when first groove 7027 and second groove 7028, may make guide roller 7032 derailings as mentioned above or guide roller 7032 is killed etc.

Shown in Figure 72, first groove 7027 and second groove 7028 are made of the first groove post processing 7027b of portion and the second groove post processing 7028b of portion of the first groove pretreatment portion 7027a that vertically extends and the second groove pretreatment portion 7028a and along continuous straight runs extension.Although these grooves optionally are used in the processing of the flanging of the periphery of the bight Cn of workpiece W, yet will be described its details after a while.

Shown in Figure 73, folding cell 7020 supports via the support 7022a that is fixed on manipulator 7022 front ends, and is contained in the outer container 7021 that is connected on the support 7022a.Folding cell 7020 comprises hemming roller (working roll) 7030 and guide roller 7032, and they are outstanding from the 7021a of slotted hole portion on the side that is formed on outer container 7021.In addition, in Figure 73 and each accompanying drawing afterwards, the rotating shaft of hemming roller 7030 outstanding direction from the 7021a of hole portion is defined as the X1 direction, be defined as the X2 direction in the opposite direction with described X1 side, the direction of pointing to hemming roller 7030 from guide roller 7032 is defined as the Y1 direction, be defined as the Y2 direction in the opposite direction with described Y1 side, in described Y1 direction and Y2 direction, hemming roller 7030 and guide roller 7032 alignment.In addition, in a kind of situation, X1 direction and X2 direction are generically and collectively referred to as directions X, and Y1 direction and Y2 direction are generically and collectively referred to as the Y direction.

Rotatably axially mounting is at the front end face place of slide block 7036 for hemming roller 7030 support shaft 7030a, and described slide block 7036 constitutes along X1 direction outstanding mechanism's (shift unit) 7034 of stretching out from the 7021a of hole portion.

U-shaped scaffold 7033 is made of base plate 7033a and a pair of side plate 7033b, the 7033b that gives prominence to along the Y1 direction from the two ends on directions X of base plate 7033a.Guide roller 7032 support shaft 7032a rotatably axially mounting between described pair of side plates 7033b, 7033b.The axial sensing directions X of bolster 7030a and 7032a.In addition, base plate 7033a's is following by the turning cylinder (direction modifier) 7042 outstanding from supporting member 7035 along Y1 direction axially mounting rotationally, and wherein, described supporting member 7035 is outstanding from the 7021a of hole portion along the X1 direction.The axis centre of turning cylinder 7042 is by the center of guide roller 7032.Therefore, according to the guide roller by scaffold 7033 supportings, its rotating direction is made of rotationally turning cylinder 7042.

In addition, hemming roller 7030 and guide roller 7032 can be moved along the Y direction, and, can push the workpiece W that clamps by hemming roller 7030 and guide roller 7032 by regulating the interval between bolster 7030a and the bolster 7032a.Hemming roller 7030 and guide roller 7032 support by manipulator 7022 and via the floating type mechanism of mentioning after a while, and are formed at when keeping relative position and can and flexibly move on directions X and Y direction by the driven ground of external force.

Hemming roller 7030 is formed by the tapered roll 7038 that is located at front with the cylinder roller 7040 that is located at base end side that tapered roll 7038 one constitute.Tapered roll 7038 is the frustum of a cone of the convergent shape of 45 ° of inclinations when side-looking.Cylinder roller 7040 is that diameter is than the bigger drum of maximum gauge portion on the base end side of tapered roll 7038.

Guide roller 7032 is configured to periphery and is set in a narrow margin disc-shape, and can be bonded on (referring to Figure 76 etc.) in first groove of being located on the mould 7,024 7027 or second groove 7028.Guide roller 7032 is realized along the function of flange 7016 guiding hemming roller 7030 in directions X and the displacement of Y direction with respect to the flange 7016 of hemming roller 7030 in restriction.

Here, will describe folding cell 7020 in detail with reference to Figure 74 to Figure 76.Figure 74 is the perspective view that the structure of folding cell 7020 is shown, and Figure 75 is the fragmentary side cross-sectional view of state that the flanging first being processed of folding cell 7020 is shown, and Figure 76 is the fragmentary side cross-sectional view that the state in the flanging processing of folding cell 7020 is shown.In addition, in Figure 74 to Figure 76,, represent outer container 7021 with double dot dash line in order to see the structure of folding cell 7020 three-dimensionally.

Folding cell 7020 comprises: stretch out mechanism 7034, it is used to support hemming roller 7030 can be along its axially (directions X) displacement; And locking mechanism 7044, it is used for optionally controlling the rotating operation of whether carrying out guide roller 7032.In addition, folding cell 7020 comprises: be used for supporting and be positioned at first movable part 7046 that stretches out mechanism 7034 that front end (along the end face of X1 direction) is located; Be used for supporting and be positioned at supporting member 7035 that front end (along the end face of X1 direction) locates and second movable part 7048 of locking mechanism 7044; And be used to make first movable part 7046 and second movable part 7048 cylinder 7050 and bar 7052 along the displacement of Y direction.First movable part 7046, second movable part 7048 and cylinder 7050 are by manipulator 7022 and via base portion 7054 supportings.

Stretching out mechanism 7034 comprises: the supporting member 7056 of square column type, and it forms porose 7056a; Motor 7058; Be connected the ball-screw 7060 on the rotating shaft of motor 7058; And the slide block 7036 that forms porose 7036c, its inside is equipped with the nut 7036a and the 7036b that can be screwed on the ball-screw 7060.Motor 7058 for example is a servomotor.Drive ball-screw 7060 rotations by motor 7058, slide block 7036 and hemming roller 7030 can be stretched out and withdraw, and can make them be fixed on the position of expectation.

Locking mechanism 7044 comprises: bar 7064, and it is used to support the abutting part 7062 of the writing board shape that is positioned at its front end place; And cylinder 7066, it is used to make bar 7064 to be shifted along directions X.According to locking mechanism 7044, when bar 7064 extends and abutting part 7062 when contacting with the side plate 7033b of the scaffold 7033 that is used to support guide roller 7032 (referring to Figure 79) along the X1 direction, guide roller 7032 is that the rotating operation at center is under an embargo under the driving effect of cylinder 7066 with turning cylinder 7042.On the other hand, when bar 7064 when the driving effect lower edge of cylinder 7066 X2 direction withdrawal and abutting part 7062 separate (referring to Figure 80) with scaffold 7033, guide roller 7032 is that the rotating operation at center is allowed to (release) with turning cylinder 7042.In addition, shown in Figure 79, when by locking mechanism 7044 locking, the bottom that folding cell 7020 is constructed such that abutting part 7062 also with the contacts side surfaces on the X2 direction of supporting member 7035.Therefore, when contacting with scaffold 7033 in the extension process of abutting part 7062 at bar 7064, can stop at turning cylinder 7042 places to form load and can prevent to destroy turning cylinder 7042 along the X1 direction.

As mentioned above, according to folding cell 7020, hemming roller 7030 and guide roller 7032 are configured in displacement relatively vertically under the operation of stretching out mechanism 7034 and can relatively change (advancing) direction of rolling under the operations of turning cylinder 7042.

In addition, shown in Figure 74, with the class of operation of manipulator 7022 seemingly, come the driving operation of control cylinder 7050, motor 7058 and cylinder 7066 by controller 7026.

Next, base portion 7054 comprises: the long slab 7068 of the long writing board shape that extends from side elevation (referring to Figure 75) along the Y direction; Be arranged in the flat board 7070 of ratio long slab 7068 weak points that align with long slab 7068 on the X1 direction; And the 3rd movable part 7072 that is used to connect the long slab 7068 and the end face on the Y2 side of flat board 7070.

Long slab 7068 is given prominence to along the Y1 direction to the part of X2 direction slightly from its center that is positioned at of the 3rd movable part 7072.The front end of long slab 7068 (end face of Y1 direction) is fixing with the front end supporting member 7074 of writing board shape.The 3rd movable part 7072 is by guide rail 7076 supportings, and guide rail 7076 is extending on the directions X and is being supported between the supporting member 7022b and 7022c that is fixed on the support 7022a, and the 3rd movable part 7072 can be at the directions X superior displacement via linear guide spare 7078.In addition, first supporting member 7084 and second supporting member 7086 in series are arranged between supporting member 7035 and the supporting member 7082, wherein, supporting member 7035 is fixed on second movable part 7048, and supporting member 7082 is given prominence to and do not contacted with dull and stereotyped 7070 along the X1 direction from the front end (end of Y2 direction) of the extension 7080 along the extension of Y2 direction from second movable part 7048.Separating part 7087 is arranged between first supporting member 7084 and second supporting member 7086, is used for they are separated.

The guide rail 7088 that is positioned at X1 direction one side of long slab 7068 is parallel to long slab 7068 and extends.First movable part 7046 and second movable part 7048 can be shifted along the Y direction via linear guide spare 7090 and 7092 by guide rail 7088 supportings and difference.That is, first movable part 7046 and second movable part 7048 via linear guide spare 7090 and 7092 and guide rail 7088 etc. by base portion 7054 supportings.

Here, second movable part 7048 is supported on the Y direction via first supporting member 7084 and second supporting member 7086 of centre insertion separating part 7087 drivenly and flexibly.Promptly, when second movable part 7048 is shifted along the direction of separating with first movable part 7046, second supporting member 7086 is separated portion's 7087 compressions (referring to Figure 75), when second movable part 7048 along with the approaching direction displacement of first movable part 7046 time, first supporting member 7084 is separated portion's 7087 compressions (referring to Figure 76).

In addition, outstanding protuberance 7022d and long slab 7068 supported by the 3rd supporting member 7094 drivenly and flexibly from supporting member 7022c along the Y1 direction.Although a pair of two the 3rd supporting members 7094 preferably are set, be used to connect two side ends of the broad ways (with the directions X direction vertical) of protuberance 7022d and long slab 7068, yet one the 3rd supporting member 7094 also can be configured to connect the mid portion of the broad ways of protuberance 7022d and long slab 7068 with the Y direction.

First supporting member 7084, second supporting member 7086 all have similar structure with the 3rd supporting member 7094.First supporting member 7084 is made of axial region 7084a and the spring 7084b that is installed in around the axial region 7084a.Second supporting member 7086 is made of axial region 7086a and the spring 7086b that is installed in around the axial region 7086a.Similarly, the 3rd supporting member 7094 is made of axial region 7094a and the spring 7094b that is installed in around the axial region 7094a.In addition, each axial region 7084a, 7086a and 7094a for example can be made of hydraulic pressure dumping device or air pressure dump device etc.

Construct by said structure according to folding cell 7020, the first supporting members 7084 and second supporting member 7086.Therefore, second movable part 7048 passes through to support with respect to base portion 7054 displaceable linear guide spares 7092 on the Y direction, and is supported on the Y direction with respect to first supporting member 7084, second supporting member 7086 and separating part 7087 drivenly and flexibly.Similarly, because the 3rd supporting member 7094 is by the said structure structure, so base portion 7054 is supported on directions X with respect to the protuberance 7022d that is fixed on the manipulator 7022 by the 3rd supporting member 7094 drivenly and flexibly.

Simultaneously, be provided with along the first outstanding retainer 7096 of Y2 direction at the place, the back side of the part of second movable part 7048, this second movable part 7048 is connected with cylinder 7050 on the base end side that extends along the X2 direction.First retainer 7096 can be in second retainer of opening on the Y1 direction 7098 and engage with the front end (end of Y1 direction) at protuberance 7022d.That is, the front end of first retainer 7096 is made of the shape for lugs that is truncated cone shape basically, and second retainer 7098 is made of the roughly tapered concave shape that the front end that can make first retainer 7096 inserts.Therefore, shown in Figure 75, the bar 7052 of cylinder 7050 extend and hemming roller 7030 and guide roller 7032 between the state of interval maximum under, promptly, under the state of hemming roller 7030 away from workpiece W after flanging first being processed or the processing of the flanging mentioned after a while, first retainer 7096 and second retainer 7098 are engaged with each other.

On the other hand, the bar 7052 of cylinder 7050 shrink and hemming roller 7030 and guide roller 7032 between the state that shown in Figure 76, diminishes of interval under, promptly, under hemming roller 7030 and the workpiece W state of contact, first retainer 7096 and second retainer 7098 do not engage each other in the flanging processing of mentioning after a while.

In addition, under the state that first retainer 7096 and second retainer 7098 are engaged with each other (referring to Figure 75), first movable part 7046 be connected in bar 7052 on the cylinder 7050 along contacting with front end supporting member 7074 under the pressure effect of Y1 direction and by this front end supporting member 7074 supportings.On the other hand, under bar 7052 withdrawal of cylinder 7050 and first retainer 7096 and the asynthetic each other state of second retainer 7098 (referring to Figure 76), the pulling force along Y2 direction of first movable part 7046 by bar 7052 be maintained at the approaching state of second movable part 7048 under.

Folding cell 7020 according to the hemming working apparatus 7010 of the 5th illustrative embodiments is constructed as mentioned above.That is, hemming roller 7030 is configured to by stretching out mechanism 7034 at axial (directions X) superior displacement of bolster 7030a.In addition, guide roller 7032 is configured to by turning cylinder 7042 and the scaffold 7033 that is used to clamp bolster 7032a rotates.In addition, the operation that guide roller 7032 is rotated by this turning cylinder 7042 can lock or release by operational lock mechanism 7044.

In addition, folding cell 7020 according to the 5th illustrative embodiments, under first retainer 7096 and the asynthetic each other state of second retainer 7098 (referring to Figure 76), first movable part 7046 and second movable part 7048 via linear guide spare 7090 and 7092 on the Y direction integratedly and can be with being shifted by base portion 7054 supportings, and the displacement on the Y direction is by first supporting member 7084 and second supporting member, 7086 driven ground and flexibly supporting.In addition, the base portion 7054 that supports first movable part 7046 and second movable part 7048 by this way is by manipulator 7022 supportings, and at the directions X superior displacement, described displacement on directions X is by the 3rd supporting member 7094 driven ground and flexibly supporting via linear guide spare 7078.Therefore, first movable part 7046 and second movable part 7048, that is, and hemming roller 7030 and guide roller 7032 by manipulator 7022 can be shifted on directions X and Y direction ground and driven and flexibly supporting.

Like this, according to folding cell 7020, linear guide spare 7078,7090 and 7092, first supporting member 7084, second supporting member 7086 and the 3rd supporting member 7094 are operated as the floating type mechanism that inserts between folding cell 7020 and the manipulator 7022.

On the other hand, under the state that first retainer 7096 and second retainer 7098 are engaged with each other (referring to Figure 75), first movable part 7046 and second movable part 7048 are subjected to making the restriction of the power that the bar 7052 of cylinder 7050 extends along the displacement of Y direction, base portion 7054 along the displacement of directions X by engaging first retainer 7096 and second retainer 7098 limits.That is, in this case, the unsteady operation of floating type mechanism is limited, and hemming roller 7030 and guide roller 7032 support rigidly and regularly by manipulator 7022.

Next, will be in conjunction with Figure 77 to Figure 82 at by using as 7010 pairs of the hemming working apparatus of above-mentioned structure comprise that the hemming processing method that the flange 7016 of the workpiece W of bight Cn carries out flanging processing describes.In this case, to describe hemming processing method by enumerating the example that carries out flanging processing with the order of arrow mark 1 to 4 according to the 5th illustrative embodiments, wherein, shown in Figure 78 A and Figure 78 B, 1,3 indications of arrow mark are carried out flanging processing to the linear segment of workpiece W, and arrow mark 2,4 indication across corner Cn carry out flanging processing.In addition, in Figure 78 A and Figure 78 B, the direction of arrow mark 1 to 4 indication rolling (propelling) hemming roller 7030, the direction of arrow mark A and B indication rolling (propelling) guide roller 7032.In addition, in Figure 78 A and Figure 78 B,, omit second groove 7028, and outside plate 7012, inner panel 7014 and flange 7016 are shown generally and are made workpiece W for the purpose of simplifying.

At first, in the step S701 of Figure 77, workpiece W is installed on the mould 7024 that is fixed on the workbench 7018.At this moment, workpiece W is provided in and makes linear segment and first groove 7027 parallel to each other under the bight Cn state corresponding with the bight of mould 7024.

In step S702, the manipulator 7022 under the control of controller 7026, and guide roller 7032 is bonded among the first groove pretreatment portion 7027a of first groove 7027 and linear segment adjacency workpiece W (referring to Figure 78 A).

At this moment, in folding cell 7020, the bar 7064 of cylinder 7066 extends on the X1 direction, and abutting part 7062 contacts with the side plate 7033b of scaffold 7033.That is, locking mechanism 7044 is in the lock state.Therefore, guide roller 7032 is in the lock state by the rotating operation of turning cylinder 7042, and the operation that is bonded on as mentioned above among the first groove pretreatment portion 7027a can be carried out apace and easily.

In addition, the bar 7052 of cylinder 7050 extends, and first retainer 7096 and second retainer 7098 are in engagement state.That is, floating type mechanism is in restriction state.Therefore, hemming roller 7030 and guide roller 7032 position under the state that is fixed on integratedly on the manipulator 7022, and can not produce swing or barreling by floating type mechanism.Therefore, more fast and accurately conduplication side roller 7030 and guide roller 7032 position.

Next, in step S703, bar 7052 withdrawals of cylinder 7050, guide roller 7032 and hemming roller 7030 are closer to each other, clamp mould 7024 (referring to Figure 79) by guide roller 7032 and cylinder roller 7040.Then, flange 7016 is by tapered roll 7038 pushings, along 45 ° of bendings of conical surface inclination.

In addition, in this case, when the bar 7052 by withdrawal cylinder 7050 made tapered roll 7038 pushing flange 7016, first retainer 7096 and second retainer 7098 were not rejoined, and the floating type mechanism in the folding cell 7020 no longer is restricted.That is,,, make, will illustrate in following steps that tapered roll 7038 can be prepared and be used for flanging processing at the no longer restricted flange 7016 that pushes simultaneously of floating type mechanism by the bar 7052 of the cylinder 7050 of withdrawing simply according to hemming working apparatus 7010.

In step S704, by locking mechanism 7044 is in the lock state guide roller 7032 is being bonded among the first groove pretreatment portion 7027a in (referring to Figure 81), along the direction rolling guide roller 7032 of the arrow mark A among Figure 78 A, thereby begin to make the flange 7,016 first flanging operation of 45 ° of direction oblique bendings to the inside of the linear segment of workpiece W along the direction of arrow mark 1 by hemming roller 7030.Promptly, keeping pressure or distance between hemming roller 7030 and the guide roller 7032 is under the state of predetermined value, when opposite mutually direction is rotated, roll with guide roller 7032 by hemming roller 7030, carry out the first flanging operation by the taper seat continuous bend flange 7016 of tapered roll 7038 along identical direction (direction of arrow mark 1).

At this moment, because locking mechanism 7044 is in aforesaid lock-out state, so guide roller 7032 and hemming roller 7030 are rolled and are not changed rotating direction along the direction of arrow mark A and arrow mark 1 respectively.At this moment, because hemming roller 7030 and guide roller 7032 support via floating type mechanism, so they can be at the directions X superior displacement in maintenance position relative to each other.Therefore, even certain error is arranged when the work track of manipulator 7022, guide roller 7032 also can correctly move in the first groove pretreatment portion 7027a, and hemming roller 7030 and guide roller 7032 can roll with higher speed.

In addition, when finishing when the processing of the flanging of 1 one of the arrow mark among Figure 78 A and hemming roller 7030 and guide roller 7032 arrived the bight inlet (some Cn1) of workpiece W, carry out step S705 continuously.

That is, in step S705, when hemming roller 7030 and guide roller 7032 arrives the bights inlet, shown in Figure 80, bar 7064 withdrawals of cylinder 7066, locking mechanism 7044 is in released state.Simultaneously, manipulator 7022 makes hemming roller 7030 move along the shape of the bight Cn of workpiece W, that is, move along the direction of arrow mark 2.Then, because locking mechanism 7044 is in aforesaid released state, institute is so that guide roller 7032 is that rotate at the center with turning cylinder 7042.Therefore, shown in Figure 78 A, by manipulator 7022, guide roller 7032 rolls along the direction of arrow mark A, and hemming roller 7030 is rolled along the direction of arrow mark 2.

Simultaneously, when guide roller 7032 rolls on the direction of arrow mark A and during gradually away from bight Cn along the first groove pretreatment portion 7027a as mentioned above, the towing tension of hemming roller 7030 by guide roller 7032 is also gradually away from bight Cn.But, according to the hemming working apparatus 7010 of the 5th illustrative embodiments, because hemming roller 7030 is by stretching out mechanism 7034 supporting, so it can be by stretching out that mechanism 7034 stretches out vertically with respect to guide roller 7032 and gradually away from bight Cn.That is, add man-hour when carrying out flanging along the shape of bight Cn on the direction of arrow mark 2, process when mechanism 7034 stretches out hemming roller 7030 gradually by stretching out, hemming roller 7030 can be rolled along the bight Cn of workpiece W.Therefore, by hemming roller 7030 effectively the flange 7016 of across corner Cn carry out flanging processing.

In addition, when processing of the flanging of 2 ones of arrow marks and hemming roller 7030 arrive the center (some Cn2) of the bight Cn of workpiece W in finishing as mentioned above to Figure 78 A, carry out step S706 continuously.

In step S706, extend the distance of elongating between hemming roller 7030 and the guide roller 7032 by the bar 7052 that makes cylinder 7050, and then make hemming roller 7030 and guide roller 7032 away from workpiece W and mould 7024.

Next, in step S707, extend by the bar 7064 that makes cylinder 7066, abutting part 7062 contacts with the side plate 7033b of scaffold 7033, guide roller 7032 returns origin position (in this position, the direction that guide roller 7032 rolls is identical with the direction that hemming roller 7030 is rolled) and locking mechanism 7044 enters lock-out state.In addition, manipulator 7022 under the restricted state of floating type mechanism is bonded among the first groove post processing 7027b of portion with the linear segment adjacency of workpiece (the arrow mark 3 among Figure 78 B) guide roller 7032.

In addition, be similar to step S703, bar 7052 withdrawals of cylinder 7050 make guide roller 7032 and hemming roller 7030 closer to each other, and clamp mould 7024 (referring to Figure 79) by guide roller 7032 and cylinder roller 7040.Then, flange 7016 is by tapered roll 7038 pushings, along 45 ° of bendings of conical surface inclination.

In step S708, be similar to step S704, by locking mechanism 7044 is in the lock state when being bonded on guide roller 7032 among the first groove post processing 7027b of portion, along the direction rolling guide roller 7032 of the arrow mark B among Figure 78 B, thereby make the flange 7,016 first flanging operation of 45 ° of direction oblique bendings to the inside of the linear segment of workpiece W once more along the direction of arrow mark 3 by hemming roller 7030.That is, from step S704 the side of (some Cn2) begins to carry out flanging processing in the opposite direction towards the center of bight Cn.

In addition, when finishing when the processing of the flanging of 3 ones of the arrow marks among Figure 78 B and hemming roller 7030 and guide roller 7032 arrived bights inlet (some Cn3), carry out step S709 continuously.

That is, in step S709, when hemming roller 7030 and guide roller 7032 point of arrival Cn3, shown in Figure 80, bar 7064 withdrawals of cylinder 7066, locking mechanism 7044 enters released state.Simultaneously, manipulator 7022 makes hemming roller 7030 move along the shape of the bight Cn of workpiece W, that is, move along the direction of arrow mark 4.Then, because locking mechanism 7044 is in aforesaid released state, institute is so that guide roller 7032 is that rotate at the center with turning cylinder 7042.Therefore, be similar to step S705, shown in Figure 78 B, by manipulator 7022, guide roller 7032 rolls along the direction of arrow mark B, and hemming roller 7030 is rolled along the direction of arrow mark 4.

In addition, when hemming roller 7030 when the direction of arrow mark 4 is rolled, be similar to step S705, hemming roller 7030 stretched out and carry out flanging processing by stretching out mechanism 7034, hemming roller 7030 can be rolled along the bight Cn of workpiece W.

In addition, when processing of the flanging of 4 ones of arrow marks and hemming roller 7030 arrive the center, bight (some Cn2) of workpiece W in finishing Figure 78 B, the first flanging operation that the flange 7016 of the bight Cn periphery of workpiece W carries out is finished.

Afterwards, in step S710, extend the distance of elongating between hemming roller and the guide roller 7032 by the bar 7052 that makes cylinder 7050, and then make hemming roller 7030 and guide roller 7032 away from workpiece W and mould 7024.

When first operation that flange 7016 bendings of workpiece W are about 45 ° (prebuckling, pre-flanging) when finishing, next, carry out flange 7016 is bent into the second flanging operation (complete bending, regular flanging) that contact with inner panel 7014.

That is, in step S711, at first, thereby limiting under the state of floating type mechanism by locking mechanism is locked, guide roller 7032 is bonded among the second groove pretreatment portion 7028a of second groove 7028.Then, hemming roller 7030 and guide roller 7032 are closer to each other and clamp workpiece W and mould 7024, and make 90 ° of 7016 bendings of flange (referring to Figure 82).Afterwards, make the further second flanging operation of crooked 45 ° of direction to the inside of the state of flange 7016 from the first flanging operation continuously, promptly, by rolling when making guide roller 7032 in being engaged in second groove 7028, by the cylinder roller 7040 of hemming roller 7030 with flange 7016 from 90 ° of initial angle bendings.Promptly, keeping pressure or distance between hemming roller 7030 and the guide roller 7032 is under the state of predetermined value, when being rotated in the opposite direction, hemming roller 7030 and guide roller 7032 roll, with flange 7016 continuous bendings, carry out the second flanging operation by the periphery barrel surface of cylinder roller 7040.

In the second flanging operation, be similar to the first flanging operation that in step S703 to S710, illustrates equally, carry out flanging processing with the order of arrow mark 1 to 4 shown in Figure 78 A and Figure 78 B.In this case, to the locking and unlocking of locking mechanism 7044 operation and all similar with the first flanging operation to the manipulation and the restriction operation of floating type mechanism.

In addition, when finishing the second flanging operation, the flange 7016 direction bending to the inside firmly of the bight Cn periphery of workpiece W machines according to the flanging of the 5th illustrative embodiments.

As mentioned above, hemming working apparatus 7010 according to the 5th illustrative embodiments, by turning cylinder 7042 is set, even when the flange 7016 along workpiece W can't be provided with first groove 7027 that constitutes guide roller 7032 rotating directions or second groove 7028, hemming roller 7030 also can be independent of guide roller 7030 and follow flange 7016 exactly.In other words, even have error (difference) when the track of guide roller 7032 and the shape of flange 7016, under the vertical state of the rotating shaft that keeps hemming roller and flange 7016, also can process.

In addition, stretch out mechanism 7034, even when the error between the shape of the track of guide roller 7032 and flange 7016 is big, also can eliminate error by hemming roller 7030 is shifted vertically by setting.In addition, when stretch out mechanism 7034 when hemming roller 7030 is shifted vertically by utilizing by this way, under the more high situation of hardness of for example process velocity increase and workpiece W, according to its behaviour in service, the resistance of flange 7016 conduplication side unit 7020 (processing reaction force) changes.In this case, because the processing reaction force is to the reaction effect of manipulator 7022, guide roller 7032 is derailed from first groove 7027 or second groove 7028, especially, under the bigger situation of the error of the work track of or manipulator 7022 big, can expect that the possibility that guide roller 7032 derails is bigger from first groove 7027 or second groove 7028 in the error between the shape of the track of guide roller 7032 as mentioned above and flange 7016.Yet,,, make the processing reaction force of flange 7016 be eliminated because floating type mechanism is set according to the hemming working apparatus 7010 of embodiment.Therefore, guide roller 7030 can move exactly along first groove, 7027 grades.

Therefore, according to hemming working apparatus 7010, can prevent reliably that guide roller 7032 from derailing and interlock first groove 7027 or second groove 7028 etc. from first groove 7027 and second groove 7028, and hemming roller 7030 is moved exactly along the shape of the edge part of workpiece W.In addition, because the linear segment of 7010 couples of workpiece W of hemming working apparatus that can be by one or part etc. with bight radius of curvature are carried out flanging processing, therefore improved the universal performance of equipment and reduced cost.

In addition, in step S707, after the arrow mark 2 in Figure 78 A is finished flanging processing, make guide roller 7032 turn back to origin position by the bar 7064 that extends cylinder 7066.The described operation that makes guide roller 7032 turn back to origin position can be finished more quickly by using folding cell 7020a, this folding cell 7020a comprises supporting member 7035a, this supporting member 7035a is by changing leading section (end of the X1 direction) structure of supporting member 7035, shown in Figure 83, turning cylinder 7042 supports vertically by supporting member 7035.

That is, compare with folding cell 7020, folding cell 7020a comprises that supporting member 7035a replaces supporting member 7035.In addition, at supporting member 7035a place, by reversing disc spring (torque spring) 7100 and bearing 7102 supporting turning cylinders 7042.

According to folding cell 7020a, making guide roller 7032 is after rotate at the center with turning cylinder 7042, promptly, after for example arrow mark 2 in Figure 78 A is finished flanging processing, when guide roller 7032 during away from first groove 7027 or second groove 7028, guide roller 7032 turns back to origin position apace by the repulsive force that reverses disc spring 7100.Therefore, can begin step afterwards quickly.That is, reverse the origin position gigback that disc spring 7100 is operating as guide roller 7032.In addition, origin position gigback even can be by for example clamping the structure of turning cylinder 7042 but not use disc spring 7100 to realize by two disc springs horizontally disposed on directions X.

In addition, although be constructed such that the center of the axle center of turning cylinder 7042 by guide roller 7032 according to the hemming working apparatus 7010 of the 5th illustrative embodiments, yet the installation site of turning cylinder 7042 on directions X can change shown in Figure 84 or Figure 85.Promptly, turning cylinder 7042 can be set to go up at proximal direction (X2 direction) with respect to the center of guide roller 7032 position (referring to Figure 84) of skew along the position of directions X, perhaps go up the position (referring to Figure 85) etc. of skew at preceding extreme direction (X 1 direction), these positions can suitably be provided with according to the shape of the workpiece W that constitutes workpiece, the radius of curvature size of bight Cn etc.

In addition, although according to the 5th illustrative embodiments, the example that carries out flanging processing by the periphery that provides the bight Cn that utilizes 7010 couples of workpiece W of hemming working apparatus illustrates the present invention, yet hemming working apparatus 7010 is except being used to process the radius of curvature portion that is preferred for processing work W the Cn of bight.For example, hemming working apparatus 7010 can also be used to process the workpiece W that edge part is configured to the meander-shaped (curved shape) shown in Figure 86 effectively.In addition, shown in Figure 87, implement the operation that hemming roller 7030 is released or pushed can be carried out flanging processing by stretching out mechanism 7034 when locking mechanism 7044 is in the lock state, the bight that is curved shape of workpiece W or the amplitude of edge part are less than the width of hemming roller 7030.Like this, according to the hemming working apparatus 7010 of the 5th illustrative embodiments, except can processing work the linear segment and bight Cn of W, can also the radius of curvature portion at the edge part place that is positioned at workpiece effectively be processed.

In addition, although according to the 5th illustrative embodiments, hemming roller 7030 is shifted vertically by stretching out mechanism 7034, yet can also construct a kind of structure, wherein, stretch out the side that mechanism 7034 is installed in guide roller 7032, guide roller 7032 is shifted vertically.Similarly, although according to the 5th illustrative embodiments,, yet also turning cylinder 7042 and locking mechanism 7044 can be installed in hemming roller 7,030 one sides by turning cylinder 7042 and locking mechanism 7044 operational guidance rollers 7032.

In addition, first groove 7027 and second groove 7028 are not limited to flute profile, as long as can guide guide roller 7032, for example the outstanding guide rail (guide part) of structure can be provided with endless groove at this moment on the periphery of guide roller 7032.

＜the six illustrative embodiments 〉

Figure 88 is the side view according to the roll-type flanging equipment of the 6th illustrative embodiments.Roll-type flanging equipment 8010 comprises: the workpiece installation component 8020 that is used to install workpiece 8011; Flanging working roll 8030 with principal curvature face 8032 and auxiliary flexure plane 8033, wherein, principal curvature face 8032 comprises towards roller rotating shaft 8031 and tilts to the conical surface that becomes first jiao of θ 1 with it, and auxiliary flexure plane 8033 comprises towards roller rotating shaft 8031 and tilts to the conical surface that becomes second jiao of θ 2 with it; Roller travel mechanism 8040, its be used to make flanging working roll 8030 along from workpiece 8011 vertically or the flange of substantially perpendicularly holding up 8012 relatively move; And guide part 8021, when by principal curvature face 8032 bent flanges 8012, guide part 8021 is used to guide auxiliary flexure plane 8033.

Workpiece installation component 8020 is moulds of being made by firm member and preferred hard steel, this mould is known as counterdie, and workpiece installation component 8020 comprises the guide part 8021 at the end place that is positioned at above it and is positioned at first gathering sill 8022 and second gathering sill 8023 below it.

Roller travel mechanism 8040 comprises manipulator 8041, be arranged on L shaped 8042 of manipulator 8041 places, be arranged on L shaped 8042 top and be used for rotatably mounted flanging working roll 8030 roller rest pad 8043, be arranged on L shaped 8042 bottom piston-cylinder unit 8044, be arranged on piston-cylinder unit 8044 piston rod 8045 places guiding rest pad 8046 and can be rotatably set in guide roller 8047 on the guiding rest pad 8046.

Guide roller 8047 is the rotating members that selectively are engaged in first groove 8022 and second groove 8023.Piston-cylinder unit 8044 is preferably hydraulic cylinder, and it is used to make guide roller 8047 near flanging working roll 8030.

Figure 89 is that flange 8012 is bent to spill according to the plane of the roll-type flanging equipment of the 6th illustrative embodiments, and afterwards, guide part 8021, first gathering sill 8022 and second gathering sill, 8023 quilts are along flange 8012 bendings.

Figure 90 A and Figure 90 B are the side views according to the flanging working roll of the 6th embodiment, shown in Figure 90 A, flanging working roll 8030 comprises principal curvature face 8032 and auxiliary flexure plane 8033, wherein, principal curvature face 8032 comprises towards roller rotating shaft 8031 and tilts to the conical surface that becomes first jiao of θ 1 with it, and auxiliary flexure plane 8033 comprises tilting to towards roller rotating shaft 8031 and becomes second jiao the conical surface with it.Angle between principal curvature face 8032 and the auxiliary flexure plane 8033 is restricted to θ 0.

Below diagonal angle θ 0, first jiao of θ 1 and second jiao of θ 2 are described.Can easily understand from Figure 91 B that mentions after a while, angle θ 0 is corresponding to the principal curvature angle of flange, and is approximately half of total angle of bend of flange.Usually, total angle of bend of flange is approximately 90 °.At this moment, θ 0 is set to about 45 °.

Second jiao of θ 2 determines according to curved guide portion 8021.That is, even cone angle is configured to also can not produce peripheral speed difference between guide part 8021 and the auxiliary flexure plane 8033 in curved guide portion 8021 when auxiliary flexure plane 8033 rotates.At this moment, this cone angle constitutes second jiao of θ 2.

Angle θ 0 shown in Figure 90 A, θ 1 and θ 2 can be represented by the triangle ABC shown in Figure 90 B.When angle A refer to θ 1, when angle B refers to θ 2, θ 0 is the exterior angle of angle C, has following relation: θ 0=θ 1+ θ 2.According to above-mentioned equation, first jiao of θ 1 can pass through equation (θ 0-θ 2) and determine.

Below will describe based on the action of Figure 91 A to Figure 91 C (being used to illustrate the accompanying drawing of principal curvature operation) and Figure 92 A to Figure 92 C (being used to illustrate the accompanying drawing of auxiliary bending operation) conduplication side working roll 8030 and roll-type flanging equipment 8010.In Figure 91 A, workpiece 8011 is installed on the workpiece installation component 8020 and is clamped.Flange 8012 is holded up from workpiece 8011.Flanging working roll 8030 moves along the arrow label orientation, to contact with guide part 8021.Meanwhile, guide roller 8047 moves along the arrow label orientation, to contact with first gathering sill 8022.

In Figure 91 B, flanging working roll 8030 is moving in the direction rotation of the surface lateral accompanying drawing inboard of accompanying drawing.Because guide roller 8047 is engaged in first gathering sill 8022, so flanging working roll 8030 is not swung on the left and right directions in the accompanying drawings.By the operation principal curvature face 8032, make flange 8012 from the principal curvature of position shown in the dotted line to position shown in the solid line.

Figure 91 C is the plane of Figure 91 B, and shown in Figure 91 C, flange 8012 is realized principal curvature by the action of principal curvature face 8032.Although guide part 8021 is bent,, so can not occur between guide part 8021 and the auxiliary flexure plane 8033 sliding because auxiliary flexure plane 8033 is made of the conical surface.Therefore, disadvantageous wearing and tearing or cut can not appear at guide part 8021 or auxiliary flexure plane 8033 places.

After principal curvature, assist crooked continuously.In Figure 92 A, flanging working roll 8030 is raised.In addition, guide roller 8047 descends.Flanging working roll 8030 and guide roller 8047 are shifted to the left side of accompanying drawing, and guide roller 8047 is engaged in second gathering sill 8023.Flange 8012 shown by dashed lines is bent to position shown in the solid line among Figure 92 B fully.

Figure 92 C is the plane of Figure 92 B, and shown in Figure 92 C, flange 8012 is assisted crooked by the action of auxiliary flexure plane 8033.Although flange 8012 is bent,, so be difficult between flange 8012 and the auxiliary flexure plane 8033 occur sliding because auxiliary flexure plane 8033 is made of the conical surface.Therefore, disadvantageous cut can not appear at flange 8012 places.

Next, will the roll-type flanging equipment according to an improved example of the 6th illustrative embodiments be described.Figure 93 is the view of an improved example that is used to illustrate the 6th illustrative embodiments of Figure 88, and the flanging working roll 8030 of Figure 88 is replaced by flanging working roll 8030B.By utilizing description, omit the specific descriptions of conduplication side working roll 8030B about Figure 88.That is, workpiece 8011 is arranged on the oblique below of flanging working roll 8030B.

Figure 94 is the plane of Figure 93, and the flange 8012 of workpiece 8011 is bent to towards flanging working roll 8030B one side and protrudes.This is corresponding to the leading edge of hood.Equally, guide part 8021, first gathering sill 8022 and second gathering sill 8023 are bent to towards flanging working roll 8030B one side and protrude.

Figure 95 A and Figure 95 B are the side views according to the flanging working roll of the improved example of the 6th illustrative embodiments, shown in Figure 95 A, flanging working roll 8030B comprises principal curvature face 8032 and auxiliary flexure plane 8033, wherein, principal curvature face 8032 comprises towards roller rotating shaft 8031 and tilts to the conical surface that becomes first jiao of θ 1 with it, and auxiliary flexure plane 8033 comprises tilting to towards roller rotating shaft 8031 and becomes second jiao the conical surface with it.Angle between principal curvature face 8032 and the auxiliary flexure plane 8033 is θ 0.

Below diagonal angle θ 0, first jiao of θ 1 and second jiao of θ 2 are described.Angle θ 0 is corresponding to the principal curvature angle of flange, and is approximately half of total angle of bend of flange.Usually, total angle of bend of flange is approximately 90 °.At this moment, θ 0 is set to about 45 °.

Second jiao of θ 2 determines according to curved guide portion 8021.That is, even cone angle is configured to also can not produce peripheral speed difference between auxiliary flexure plane 8033 and the guide part 8021 when the flanging working roll rotates with respect to curved guide portion 8021.At this moment, this cone angle constitutes second jiao of θ 2.

Angle θ 0 shown in Figure 95 A, θ 1 and θ 2 can be represented by the trapezoidal DEFG shown in Figure 95 B.Limit DG is parallel with limit EF.Angle D is θ 1, and the exterior angle of angle E is (θ 0+ θ 2).Therefore, can set up following relational expression: θ 1=(θ 0+ θ 2), first jiao of θ 1 can be determined by (θ 0+ θ 2).

Below with reference to Figure 96 A to Figure 96 D the action of above-mentioned flanging working roll 8030B is described.In Figure 96 A, flanging working roll 8030B is moving in the direction rotation of the surface lateral inboard of accompanying drawing.

Figure 96 B is the plane of Figure 96 A, and flange 8012 is realized principal curvature by the action of principal curvature face 8032.Although guide part 8021 is bent,, so can not occur between guide part 8021 and the auxiliary flexure plane 8033 sliding because auxiliary flexure plane 8033 is made of the conical surface.Therefore, disadvantageous wearing and tearing or cut can not appear at guide part 8021 or auxiliary flexure plane 8033 places.

After principal curvature, assist crooked continuously.In Figure 96 C, flanging working roll 8030B is moving in the direction rotation of the surface lateral inboard of accompanying drawing.Figure 96 D is the plane of Figure 96 C, and shown in Figure 96 D, flange 8012 is assisted crooked by the action of auxiliary flexure plane 8033.

In addition, the present invention is preferred for the flanging technology such as curved edge, roof of the hood of bending vehicle.As long as the edge is crooked, the workpiece of any kind can be processed.In addition, although according to roller travel mechanism 8040, manipulator is a drive source, yet the drive source of roller travel mechanism 8040 also can be made of motor or hydraulic cylinder.

In addition, separate with workpiece installation component 8020 by making guide part 8021, rather than form as one, guide part 8021 can be set separately with workpiece installation component 8020.

＜the seven illustrative embodiments 〉

Below with reference to Figure 97 to Figure 106 D the 7th illustrative embodiments of the present invention is described.In addition, suppose along the direction of mark and observe accompanying drawing.Figure 97 is the front view according to the mould of roll-type flanging equipment of the present invention, and roll-type flanging equipment 9010 is by being connected the connector (will specifically describe after a while) on the manipulator and can linking to each other with connector and the mould 9020 that can dismantle from connector constitutes.

Mould 9020 comprises first gathering sill 9021 (will specifically describe after a while), second gathering sill 9022 (will specifically describe after a while) and the chuck segment 9024 that supports via support plate 9023, and comprises clamp mechanism 9030A and 9030B respectively at lower-left end and upper right side.

Figure 98 is the cutaway view of getting along the line 2-2 among Figure 97, and clamp mechanism 9030A comprises: the clamp 9032 that is fixed on (along the surface direction of accompanying drawing) on the side of mould 9020 via support plate 9031; Be locked in clamp arm 9034 on the clamp 9032 pivotly by pin 9033; And the piston-cylinder unit 9035 that is connected the clamp arm 9034 that is used on the clamp 9032 to pivot.Reference numeral 9036,9036 expression stiffeners.

Because clamp mechanism 9030B and 9030A are similar structural elements shown in Figure 97, therefore by utilizing description, with the explanation of omitting to clamp mechanism 9030A about 9030B.

Figure 99 is the cutaway view that the line 3-3 in Figure 97 is got, except said structure, mould 9020 also comprise be arranged on mould 9020 on the right side on the accompanying drawing and first gathering sill 9021 of semicircular in shape cross sectional shape or second gathering sill 9022 and be positioned at the left side on accompanying drawing of mould 9020 and be used to receive the receiving plane 9025 of the board member that constitutes workpiece.

Figure 100 is the cutaway view of being got along the line 4-4 among Figure 97, and chuck segment 9024 comprises recess 9026.The member of dotted line indication is a connector 9040, and it is connected the front end of manipulator 9027, and connector 9040 comprises actuator 9041, and the front end of actuator 9041 is connected with chuck plate 9042.To the concrete structure of connector 9040 be described after a while.

Actuator 9041 can make chuck plate 9042 move on the arrow label orientation.In addition, by manipulator 9027 shown in the arrow mark of single-point line indication, chuck plate 9042 can be inserted in the recess 9026.Under chuck plate 9042 is inserted into state in the recess 9026, move by making chuck plate 9042 the right in accompanying drawing, mould 9020 and connector 9040 are connected.

Figure 101 is the perspective view according to the connector of the 7th illustrative embodiments, two blocks of side plates 9044 at the place, two ends that connector 9040 comprises the substrate 9043 that is arranged on manipulator 9027 front end places, be arranged on substrate 9043 and 9045 and be arranged on roller mechanism 9050 (will describe its concrete structure) between side plate 9044 and the side plate 9045 in next accompanying drawing.

Figure 102 is the cutaway view that the line 6-6 along Figure 101 is got, and roller mechanism 9050 comprises via two support plates 9051,9051 are arranged on first guide rail 9052 of substrate 9043 tops, be connected first slide block 9053 on first guide rail 9052 movably, the column 9054 and second guide rail 9055 that extend perpendicular to the direction of first guide rail 9052 from first slide block, 9053 edges, be connected second slide block 9056 and the 3rd slide block 9057 on second guide rail 9055 movably, rotatably be connected pressure roll 9059 on second slide block 9056 via axle 9058, formation is connected the free bearing 9062 of the ways on the 3rd slide block 9057 via support plate 9061, be used to connect the hydraulic cylinder 9063 of the pressure of interval between the 3rd slide block 9057 and second slide block 9056 and the adjusting slider and pressure roll 9059, be used for elastic component 9064 and 9065 by first slide block, 9053 elastic bearings the 3rd slide block 9057, and be used for by being connected support plate 9051, the elastic component 9067 of support base 9066 elastic bearings first slide block 9053 of 9051 tops.

Free bearing 9062 is for example to have larger-diameter steel spherical component 9069 and be engaged in the housing 9068 structure and form by making via a plurality of little ball bearings.Reference numeral 9071 representatives are arranged on the inclined plane on the pressure roll 9059, the roll surface on the Reference numeral 9072 representative pressure rollers 9059.In addition, although elastic component 9064,9065 and 9067 is preferably spring, yet elastic component also can be cushion rubber or the product equivalent with it.

Therefore, the free bearing 9062 of roll-type flanging equipment 9010 comprises along the steel spherical component 9069 of first gathering sill (mark 9021 among Figure 99) and second gathering sill (mark 9022 among Figure 99) rolling.Operation by the roll-type flanging equipment of said structure structure below will be described.

Figure 103 A and Figure 103 B are the key diagrams according to the mould connector of the 7th illustrative embodiments, in Figure 103 A, mould 9020 are advanced to the flange of holding up 9082 places at the place, bight that is located at upside and the inverted car door 9081 of downside by manipulator 9027.In Figure 103 B, mould 9020 is in the surperficial state of contact with outside plate 9083.In this state, clamp arm 9034,9034 is pivoted to car door flange part 9084 by piston- cylinder unit 9035,9035, thereby clamps car door flange part 9084 by clamp 9032,9032 and clamp arm 9034.Therefore, mould 9020 supports by car door flange part 9014 via clamp mechanism 9030A and 9030B.

Figure 104 A and Figure 104 B are the key diagrams according to the preparation flanging processing of the 7th illustrative embodiments.At this moment, the upper end of inner panel 9085 overlaps on the outside plate 9083 with flange 9082 of holding up, and mould 9020 contacts with the outside of outside plate 9083.In Figure 104 A, the steel spherical component 9069 that is located at free bearing 9062 places is engaged in first gathering sill 9021, and pressure roll 9059 is near steel spherical component 9069.Operate by hydraulic cylinder (mark 9063 among Figure 102).

In Figure 104 B, pressure roll 9059 and steel spherical component 9069 move along the fore-and-aft direction in the accompanying drawing.Inclined plane 9071 by pressure roll 9059 can be with the flange holded up 9082 crooked about 45 °.The about 45 ° processing of described bending is known as the processing of preparation flanging.When preparation flanging when machining, pressure roll 9059 separates with steel spherical component 9069 and pressure roll 9059 and steel spherical component 9069 move constant distance.

Figure 105 A and Figure 105 B are the key diagrams according to the regular flanging processing of the 7th illustrative embodiments.In Figure 105 A, steel spherical component 9069 is engaged in second gathering sill 9022, and pressure roll 9059 is once more near steel spherical component 9069.At this moment, not the flange 9082 that 9072 contacts of inclined plane 9071 but roll surface are holded up.

In Figure 105 B, pressure roll 9059 and steel spherical component 9069 move along the fore-and-aft direction in the accompanying drawing.Roll surface 9072 by pressure roll 9059 is with the flange 9082 complete bendings of holding up.Described Bending Processing is known as regular flanging processing.When regular flanging machined, pressure roll 9059 can separate with steel spherical component 9069.

Figure 106 A to Figure 106 D is the comparative illustration figure of the gathering sill of roll-type flanging equipment.A Comparative Examples has been described among Figure 106 C, a kind of embodiment has been described among Figure 106 D.Figure 106 A is the cutaway view of the state that shows that guide roller 9301 moves on gathering sill 9302.D1 represents the diameter of guide roller 9301, L1 representative when the periphery of guide roller 9301 justify and the upper sideline of gathering sill 9302 at two some P1 and P2 place the distance between P1 and P2 when overlapping.

Figure 106 B is the cutaway view of being got along the line b-b among Figure 106 A, when the gradually slow ground of gathering sill 9302 crooked (having less radius of curvature) and guide roller 9301 can not break away from gathering sill 9302, can shown in the arrow mark, move along the square-section portion (the square-section portion that has width W 1 and length L 1 in the accompanying drawing) that upper sideline 9303 levels cut out.

But when the radius of curvature of gathering sill 9304 was big shown in Figure 106 C, guide roller 9301 contacted with gathering sill 9304 point P3 place in the accompanying drawings.Therefore, guide roller 9301 is moved reposefully, and according to circumstances guide roller 9301 may break away from gathering sill 9304.

Aspect this, shown in Figure 106 D, even first gathering sill 9021 has bigger radius of curvature, steel spherical component 9069 also can move and not break away from first gathering sill 9021 reposefully.

Therefore, in Figure 105 A and Figure 105 B, comprise the steel spherical component 9069 that rolls along first gathering sill 9021 or second gathering sill 9022 as the free bearing 9062 of the ways of roll-type flanging equipment.Steel spherical component 9069 does not break away from first gathering sill 9021 or second gathering sill 9022 that has than larger radius of curvature.Therefore, can carry out flanging processing to having, and cheap roll-type flanging equipment can be provided than the part of larger radius of curvature.

In addition, roll-type flanging equipment is by comprising first gathering sill 9021 or second gathering sill 9022, pressure roll 9059 and the simple equipment that constitutes as the mould 9020 of the free bearing 9062 of ways, and the low-cost roll-type flanging equipment that forms obtains easily.

In addition, the material of spherical component that is used for the ways of the 7th illustrative embodiments can be by non-ferrous metal or pottery but not any material that steel is made.

Be not limited to above-mentioned embodiment according to hemming processing method of the present invention, process equipment and Welding Structure, certainly adopt various structures or step in the case without departing from the gist of the present invention.

The Japanese patent application (Japanese patent application No.2005-350809) that the application submitted to based on December 5th, 2005, the Japanese patent application (Japanese patent application No.2005-350821) that on December 5th, 2005 submitted to, the Japanese patent application (Japanese patent application No.2005-350884) that on December 5th, 2005 submitted to, the Japanese patent application (Japanese patent application No.2005-350615) that on December 5th, 2005 submitted to, the Japanese patent application (Japanese patent application No.2005-350619) that on December 5th, 2005 submitted to, the Japanese patent application (Japanese patent application No.2006-051234) that on February 27th, 2006 submitted to, the Japanese patent application (Japanese patent application No.2006-066738) that on March 10th, 2006 submitted to, the Japanese patent application (Japanese patent application No.2006-202039) that the Japanese patent application (Japanese patent application No.2006-187582) that on July 7th, 2006 submitted to and on July 25th, 2006 submit to, the content of described Japanese patent application is incorporated in this as a reference.

Industrial applicibility:

Be preferred for making the vehicle body of vehicle according to hemming processing method of the present invention and process equipment.

Claims (2)

1. a hemming processing method is wherein clamped workpiece and the flange that is positioned at described workpiece end place is carried out flanging processing with roller by moving moulds, and described hemming processing method comprises:

Near step, keep described by conveyer and move moulds and make described moving moulds near described workpiece;

The step of floating makes described the moving moulds can be with respect to described workpiece shift by reducing power that described conveyer is used to keep its posture; And

Contact procedure is keeping by the erecting device that is located at the described place of moving moulds the described surface that moves moulds being contacted with described workpiece under the described state that moves moulds by described conveyer.

2. hemming working apparatus comprises:

Move moulds and roller, be used to clamp workpiece and the flange that is positioned at described workpiece end place is carried out flanging processing;

Conveyer is used to make described moving moulds near described workpiece;

Adjusting device, when described conveyer makes described moving moulds when the described workpiece, described adjusting device is used to reduce to keep the power of posture; And

Erecting device is located at the described place that moves moulds, and is keeping under the described state that moves moulds by described conveyer, and described erecting device is used to make the described surface that moves moulds to contact with described workpiece.

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