CN218903370U

CN218903370U - Rotary roller head

Info

Publication number: CN218903370U
Application number: CN202223314665.9U
Authority: CN
Inventors: 山中刚介; 中田慧一
Original assignee: Hirotec Corp
Current assignee: Hirotec Corp
Priority date: 2022-11-02
Filing date: 2022-12-07
Publication date: 2023-04-25
Anticipated expiration: 2032-12-07
Also published as: JP3240397U

Abstract

The rotary roller head can cope with both the push type and the pull type by changing the pressing direction only by changing the posture of the roller head. The rotary roller head comprises: a housing forming a long-side directional axis of the rotary roller head; a motor installed in the housing and having a driving shaft; a roller package that is operatively linked to the motor; a biasing unit operatively coupled to the housing; and a mounting flange which is offset from the longitudinal axis and coupled to the urging unit, rotation of the drive shaft acting on rotation of the longitudinal axis of the rotatable roller head of the roller package, the urging unit including a push-type urging device configured to urge the roller package in a direction away from the housing along the longitudinal axis, and a pull-type urging device configured to urge the roller package in a direction toward the housing along the longitudinal axis.

Description

Rotary roller head

Technical Field

The utility model relates to a rotary roller head for edging a robot roller.

Background

Roller hemming work can be used to join two metal sheets to assemble a workpiece. For example, two panel-shaped workpieces can be joined to form a door panel for a vehicle or the like. In a typical roll hemming process, the peripheral edges of the outer panels of two panel-like workpieces are bent vertically along their entire peripheries, and then the outer panels are secured to a die. Then, the inner panel is stacked on the outer panel. In a state where the two panels are stacked, the outer edge of the vertically bent outer panel is further bent to the outer edge of the inner panel by pressing the peripheral edge of the outer panel with a roller head, whereby the two panels are joined. The roller head can be attached to a robot arm that performs hemming processing on a metal plate by moving the roller head relative to a hemmed piece. The rollers are driven by the robot, and therefore, the processing quality or the bent shape of the hemmed piece depends on the positioning accuracy of the robot.

There is a continuing need for improved roller heads that improve the quality and/or speed of the roller hemming process. In addition, there is a continuing need for an improved roller head that reduces the range of motion in such a way that an increased robot can be brought closer to the workpiece to be hemmed at the time of roller hemming processing.

In such a technical background, japanese patent No. 6128670 proposes a swivel roller head shown in fig. 8. The swivel roller head is configured such that a drive motor is provided on a shaft for pressurizing the roller, and the pressurizing shaft can swivel. Further, by devising to set the mounting flange mounted on the robot hand so as to be offset from the pressing shaft of the roll head and set at an angle, the operation range of the robot arm at the time of the roll hemming process can be reduced.

Further, the urging means for maintaining the processing pressure constant is provided so as to be capable of switching between a configuration (push type) for urging the roller in a direction toward the workpiece along the pressing shaft and a configuration (pull type) for urging the roller in an opposite direction to the workpiece in accordance with the form of the workpiece to be hemmed.

In conventional roller hemming processing, since a roller hemming robot is disposed outside an anvil on which a workpiece is placed, a roller head of a push type is more advantageous in terms of a hemming speed and the like. However, in the case of the push-type roll head, a portion or the like requiring a severe bending of the workpiece is also required to be processed in a pull-type manner in which the posture of the roll head is reversed, because the roll head or the robot arm interferes with the workpiece (see fig. 1). As a result, the following problems exist: in the case of performing roll hemming processing on a complex workpiece shape, in order to maximize the high-speed processing capability of the rotary type roll head, there are cases where two robots, i.e., a robot including a push type roll head and a robot including a pull type roll head, are required.

Prior art literature

Patent literature

Patent document 1: japanese patent No. 6128670.

Disclosure of Invention

The present utility model has been made in view of the above, and a main object thereof is to provide a rotary roller head capable of coping with both a push type and a pull type by changing the direction of pressurization only by changing the posture of the roller head.

The first technical scheme relates to a rotary roller head, which is characterized by comprising: a housing forming a long-side directional axis of the rotary roller head; a motor mounted within the housing, the motor having a drive shaft; a roller package operatively coupled to the motor; a biasing unit that is operatively coupled to the housing; and a mounting flange that is offset from the longitudinal axis and coupled to the urging unit, rotation of the drive shaft acting on rotation of the roller package about the longitudinal axis of the swivel roller head, the urging unit including a push-type urging device configured to urge the roller package in a direction away from the housing along the longitudinal axis, and a pull-type urging device configured to urge the roller package in a direction toward the housing along the longitudinal axis.

According to this configuration, the rotor package can be rotated by the motor mounted on the housing, so that the following performance of the roller head on the complicated machining path is improved, the operation range of the robot arm at the time of the hemming working is reduced, and the improvement of the machining speed and the reduction of the interference between robots can be realized. Further, since the biasing means is configured to be capable of coping with both the push type and the pull type, the roll head can be turned by 180 degrees during the machining process, and thus the hemming process can be performed by one hemming robot while avoiding interference with the workpiece even for a workpiece having a severe bending requirement.

A second aspect is characterized in that, in the first aspect, the urging unit includes a guide shaft and a slidable insert that accommodates the guide shaft, and the insert is disposed between a top plate and a bottom plate of the housing.

According to this structure, since the insert constituting the urging means is restrained by the guide shaft and is limited to the sliding motion along the longitudinal direction axis, the accurate motion of the roller package can be achieved.

A third aspect of the present utility model is the rotary roller head according to the second aspect, wherein the urging means has a stop surface that abuts against the bottom plate to limit the movement of the urging means parallel to the longitudinal axis in the push-type urging means, and a stop surface that abuts against the top plate to limit the movement of the urging means parallel to the longitudinal axis in the pull-type urging means.

According to this configuration, the upper and lower stop surfaces of the insert constituting the urging means are brought into contact with the bottom plate and the top plate of the housing, so that the sliding operation of the urging means can be restricted to a predetermined stroke.

A fourth technical means is the rotary roller head of the third technical means, wherein the urging means has a spring, the spring being disposed between a lower spring hole formed in the insert and the bottom plate in a push-type urging means, and the spring being disposed between an upper spring hole formed in the insert and the top plate in a pull-type urging means.

According to this configuration, since the spring is used as the urging means of the urging means, the urging means can generate accurate processing pressure with an inexpensive structure.

A fifth aspect of the present utility model is the rotary roller head according to the fourth aspect, wherein an output shaft rotatably fixed to the roller package is driven via a gear box by receiving an input from a drive shaft of the motor.

According to this configuration, since the roller package can be rotated by driving the motor, the operation of the robot arm can be minimized, and a complicated processing path can be handled. Further, since the gear box of which the strength is ensured receives the axial load and the lateral load applied to the output shaft of the roller package, the durability of the motor is ensured.

A sixth aspect is the rotary roller head according to the fifth aspect, wherein the mounting flange has a mounting surface forming a mounting angle with the longitudinal axis.

By setting an appropriate mounting angle between the mounting surface facing the robot hand and the longitudinal axis, the operation range of the robot arm at the time of the roller hemming processing can be reduced, and improvement of the processing speed and reduction of interference between robots can be achieved.

A seventh aspect is characterized in that, on the basis of the revolving roller head according to the sixth aspect, the installation angle is in a range of about 30 ° to about 60 °.

By setting the angle between the attachment surface facing the robot hand and the longitudinal axis to a range of about 30 ° to about 60 °, the operation range of the robot arm at the time of the roll hemming processing can be reduced, and the effect of improving the processing speed and the effect of reducing the interference between robots can be exerted to the maximum extent.

An eighth aspect is the rotary roller head according to the seventh aspect, wherein the mounting flange is axially laterally offset from the longitudinal direction.

By making the mounting surface facing the robot hand offset from the longitudinal axis by an appropriate distance, the operation range of the robot arm at the time of the roller hemming processing can be further reduced, and improvement of the processing speed and reduction of interference between robots can be achieved.

By providing the rotary roller head with a structure capable of coping with both the push type and the pull type, even for a work piece having a severe bending requirement, it is possible to perform the hemming process while avoiding interference with the work piece by changing the pressing direction only by reversing the posture of the roller head by one hemming robot.

Drawings

Fig. 1 is an isometric view of a system of the present utility model for roller hemming by switching the rotary roller head to a pull form.

Fig. 2 is an overall view of a roller hemming processing robot system to which the rotary roller head of the present utility model is mounted.

Fig. 3a, 3b, and 3c are cross sections of the biasing means, in which fig. 3a shows a state in which the roller does not apply the working pressure, fig. 3b shows a state in which the working pressure of the push type is applied, and fig. 3c shows a state in which the working pressure of the pull type is applied.

Fig. 4 is a perspective view of the swivel roller head of the present utility model.

Fig. 5 is an exploded assembly view of the components of the swivel roller head of the present utility model.

Fig. 6 is a side view of the swivel roller head of the present utility model.

Fig. 7 is a cross-sectional view of the urging unit of the swivel roller head of the present utility model.

Fig. 8 is a cross-sectional view of a force applying unit of a conventional swivel roller head of japanese patent No. 6128670.

Fig. 9 is an isometric view of a system for installing a conventional swivel roller head and performing a roller hemming process.

Symbol description

10. Robot arm

11. Robot control device

20. Tool coupler

100. Rotary roller head

110. Mounting flange

112. Mounting surface

120. Force applying unit

127. Insert

126a guide shaft

126b linear bushing

127a upper stop surface

127b lower stop surface

128a upper spring

128b lower spring

128c upper mounting bolt

128d lower mounting bolt

129a upper spring hole

129b lower spring hole

130. Outer casing

132. Top plate

134. Bottom plate

136. Roller mounting member

138. Side plate

150. Motor with a motor housing

152. Control device

154. Driving shaft

158. Output shaft

156 gear box

159 mounting shaft

160 roller package

162 main body

163 connector

164 first binding head

166 second binding head

171 pull type force application device

172 push type force application device

Detailed Description

The swivel roller head has a mounting flange that is offset laterally from the longitudinal direction of the swivel roller head. Furthermore, the mounting flange can form a mounting plane offset from the longitudinal axis by a mounting angle. By deviating the mounting flange from the longitudinal axis, the height and length of the operating range of the robot arm for operating the swivel roller head when the roller rolls are reduced.

Further, since the urging means is provided so as to be able to cope with both the push type and the pull type, the hemming process can be performed by turning the posture of the roll head 180 degrees to change the pressing direction during the process. Thus, even a work piece having a severe bending requirement can be hemmed by one hemming robot while avoiding interference with the work piece.

Fig. 9 shows in an isometric view the installation of the prior art swivel roller head of fig. 8 to a robotic arm and the robotic roller hemming process. The workpiece is a tail gate, and has a portion requiring severe bending, and the figure shows a case where the roller head and the workpiece interfere with each other when the roller head reaches the portion, and cannot be processed. The portion surrounded by the bridge is the relevant portion of the roll head.

On the other hand, fig. 1 shows an isometric view of a case where the swivel roller head of the present utility model capable of coping with both the push type and the pull type is attached to a robot arm and the robot roller hemming process is performed with respect to the same workpiece. The conventional portion is processed in the push type, but the hemming process in which the direction of the roll head is turned over and instantaneously changed to the pull type is performed at the portion where the bending is severely required, whereby the interference between the roll head and the anvil can be avoided and the hemming process can be performed. The portion surrounded by the bridge is the relevant portion of the roll head.

When the roller is rolled, if the rotary roller head is moved, the motor of the rotary roller head rotates the roller package around the longitudinal axis of the rotary roller head. The swivel roller head greatly reduces the movement of the robot arm required to follow the complex processing path of the workpiece, as compared to a roller head without a swivel mechanism.

Embodiments of the present utility model will be described in detail with reference to the accompanying drawings.

The details are described with respect to fig. 2. The mounting flange 110 has a mounting face 112. The tool coupling 20 of the robot arm 10 is detachably coupled to the mounting surface 112, and the mounting surface 112 includes a mounting flange 110 mounted to the urging unit 120. The mounting flange 110 is disposed adjacent to the bottom plate 134 of the housing 130 and is offset from the housing axis H-H in such a manner that the robotic arm 10 extends laterally from the swivel roller head.

The mounting face 112 of the mounting flange 110 is formed with a mounting plane P that forms a mounting angle θ with the housing axis H-H. As shown, the robotic arm 10 is mounted to the mounting flange 110 via a tool coupling. The mounting angle θ between the longitudinal axis of the swivel roller head and the mounting flange 110 is about 45 degrees in the present embodiment, but is preferably in the range of 30 degrees to 60 degrees. In this angular range, the movement of the robot arm driving the revolving head can be limited to the maximum extent.

Fig. 4 and 5 are explained. The rotary roller head 100 includes a motor 150, and the motor 150 drives a pressing shaft of a roller package 160 of the rotary roller head 100 to be operable to follow a processing path of a workpiece during hemming processing. The motor 150 rotates the roller package 160 around the housing axis H-H according to the processing path of the workpiece, suppresses the operation range of the robot arm 10, and increases the processing speed.

The motor 150 includes a control 152 and a drive shaft 154. The motor 150 is disposed between the side plates 138 and mounted to the upper surface 134a of the bottom plate 134 of the housing 130. The top plate 132 of the housing 130 is secured to the side plate 138.

The control device 152 is an operation control device that controls the motor 150 so as to rotate the roller package 160 around the housing axis H-H in accordance with the movement of the revolving roller head 100 around the hemmed piece. The control device 152 may be a part of the robot control device 11 of the robot arm 10, or may be a separate device as shown by a control device 152' connected to the robot control device 11 in fig. 2. It is contemplated that cost reduction can be achieved by integrating the control device 152 into the robot control device 11. For example, if the robot arm 10 has a total of six degrees of freedom with respect to the motion and one degree of freedom is assigned to each motion axis, the motor 150 can control the rotation of the roller package 160 as the seventh degree of freedom. Further, if the control device 152 is integrated with the robot control device 11, the robot arm 10 and the swivel roller head 100 can function cooperatively.

The swivel roller head 100 includes a gear box 156, which gear box 156 converts rotation of the drive shaft 154 into rotation of the roller enclosure 160. The gearbox 156 receives input from the drive shaft 154 and converts rotation of the drive shaft 154 to output via an output shaft 158. The output shaft 158 is rotatably fixed to the roller mounting member 136. The mounting shaft 159 extends from the roller mounting member 136 in a direction away from the housing 130 along the long-side direction shaft. The mounting shaft 159 is mounted to the roller package 160 in such a manner that the roller package 160 rotates about the housing shaft H-H when the output shaft 158 rotates. It is contemplated that the input angular velocity from the drive shaft 154 is reduced and the gearbox 156 increases torque to rotate the output shaft 158.

Fig. 5 and 6 are explained. The roller package 160 includes a main body 162, a first roller head 164, and a second roller head 166. The first roller 164 is rotatable about an R-R axis orthogonal to the housing axis H-H and the second roller is formed with a T-T axis orthogonal to the housing axis H-H and orthogonal to the R-R axis.

The urging unit 120 will be described with reference to fig. 5 to 8. The urging units 120 are arranged laterally between the mounting flange 110 and the housing 130. The urging unit 120 is disposed vertically between the top plate 132 and the bottom plate 134. The force applying unit 120 includes an insert 127, the insert 127 having an upper stop surface 127a and a lower stop surface 127b, the upper and

lower stop surfaces

127a and 127b stopping movement of the housing 130 parallel to the long-side direction axis H-H.

Further, the urging unit includes a push-type urging device 172 in a lower portion and a pull-type urging device 171 in an upper portion, the push-type urging device 172 being configured to urge the roller package in a direction away from the housing along the longitudinal axis, the pull-type urging device 171 being configured to urge the roller package in a direction toward the housing along the longitudinal axis.

As described with reference to fig. 3a, 3b, 3c, and 7, the push-type urging means 172 is constituted by the lower spring hole 129b, the lower spring 128b, and the lower mounting bolt 128d in the lower portion of the urging unit 120. In the present embodiment, two lower spring holes 129b are formed from a lower stop surface 127b of the lower portion of the insert 127 in the longitudinal direction of the insert 127 to the vicinity of the intermediate portion, and the lower springs 128b are inserted into the holes and fixed by the lower mounting bolts 128 d.

On the other hand, the pull-type urging means 171 is constituted by an upper spring hole 129a, an upper spring 128a, and an upper mounting bolt 128c in the upper portion of the urging unit 120. In the present embodiment, two upper spring holes 129a are formed from an upper stop surface 127a on the upper portion of the insert 127 in the longitudinal direction of the insert 127 to the vicinity of the intermediate portion, and the upper springs 128a are inserted into the holes and fixed by upper mounting bolts 128 c.

The insert 127 is slidably disposed between the top plate 132 and the bottom plate 124. That is, in the present embodiment, two insertion holes are formed in the longitudinal direction in the insertion portion 127, and each insertion hole is inserted with a guide shaft 126a through a linear bushing 126b, and the upper end portion and the lower end portion of the guide shaft 126a are supported by the top plate 132 and the bottom plate 134, respectively.

The push-type force application device 172 and the pull-type force application device 171 are configured to adjust the respective lengths so that the insert 127 is disposed at the initial position with the top plate 132 and the bottom plate 134 being spaced apart from each other vertically at the same interval. In the present embodiment, the vertical interval is set to about 10 mm.

When a machining pressure generated by the hemming working of the push type is applied from the roller to the housing due to the operation of the robot arm 10, the insert 127 moves relatively to the housing 130 in the direction of the workpiece, and the lower stop surface 127b of the insert 127 abuts against the upper surface of the bottom plate 134 to stop the movement.

In contrast, when the machining pressure generated by the hemming machining in the form of a pull is applied from the roller to the housing, the insert 127 moves relatively to the housing 130 in a direction away from the workpiece, and the upper stop surface 127a abuts against the bottom surface 132a of the top plate 132 to stop the movement.

When the insert 127 is brought into abutment with the top plate 132 or the bottom plate 134 to form a state in which the working pressure of the robot arm 10 is directly applied, the accurate working pressure is not applied any more. Therefore, in practice, when the trimming is performed, the upper and lower intervals are maintained so as to be 3 to 5mm, and the stress of the spring is managed so as to be applied as the machining pressure.

Some embodiments of the present disclosure are described using the drawings, however, for the purpose of explanation widely within the scope of the realization in the field, and furthermore, the description is to be construed in the same manner, and is not intended to limit the present disclosure. Any combination of the above embodiments is conceivable and within the scope of the appended claims. Therefore, the above description is not to be construed as limiting, but merely as exemplifications of particular embodiments.

Claims

1. A swivel roller head, comprising:

a housing forming a long-side directional axis of the rotary roller head;

a motor mounted within the housing, the motor having a drive shaft;

a roller package operatively coupled to the motor;

a biasing unit that is operatively coupled to the housing; and

a mounting flange which is offset from the longitudinal direction axis and is coupled to the urging unit,

the rotation of the drive shaft acts on the rotation of the roller package around the longitudinal axis of the rotary roller head,

the urging unit includes a push-type urging device configured to urge the roller package in a direction away from the housing along the long-side direction axis, and a pull-type urging device configured to urge the roller package in a direction toward the housing along the long-side direction axis.

2. The rotating roll head according to claim 1, wherein,

the biasing unit has a guide shaft and a slidable insert that houses the guide shaft, and is disposed between a top plate and a bottom plate of the housing.

3. The rotating roll head according to claim 2, wherein,

the urging means has a stop surface abutting against the bottom plate for restricting an operation of the urging means parallel to the longitudinal axis in the push-type urging means, and the pull-type urging means has a stop surface abutting against the top plate for restricting an operation of the urging means parallel to the longitudinal axis.

4. The rotating roll head according to claim 3, wherein,

the urging unit has a spring disposed between a lower spring hole formed in the insert and the bottom plate in a push-type urging device, and between an upper spring hole formed in the insert and the top plate in a pull-type urging device.

5. The rotating roll head according to claim 4, wherein,

an input is received from a drive shaft of the motor, and an output shaft rotatably fixed to the roller package is driven via a gear box.

6. The rotating roll head according to claim 5, wherein,

the mounting flange has a mounting surface forming a mounting angle with the longitudinal axis.

7. The rotating roll head according to claim 6, wherein,

the mounting angle is in the range of about 30 ° to about 60 °.

8. The rotating roll head according to claim 7, wherein,

the mounting flange is axially laterally offset from the longitudinal direction.