JP2002301527A - Roll hemming apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a roll hemming apparatus with which the apparatus is miniaturized, the roller supporting part is easily detachable and attachable from the wrist part of a robot arm and the robot is used for the purpose of other working. SOLUTION: By placing the apparatus on a lower die in the state an inner panel is put upon an outer panel whose outer peripheral flange is stood up and by pressing the outer peripheral flange with a roller 24 which is attached to the wrist part 13 of the robot arm 11, the outer panel and the inner panel are integrated. In the roll hemming apparatus whose roller is supported movably in the same direction as its pressing direction, the support part 20 of the roller is composed of a base member, a slide member which is slidably held along the base member, an air cylinder 22 for energizing the slide member in the direction in which the slide member is projected from the base member and the roller which is pivotally attached freely rotatably at the projected end of the slide member.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a roll hemming apparatus for integrating an outer panel and an inner panel by pressing an outer peripheral flange of the outer panel with a roller and bending the outer panel toward the inner panel.

[0002]

2. Description of the Related Art In a conventional roll hemming apparatus 100, as shown in the overall view of FIG. 10, an outer panel Po having an outer peripheral flange Pf raised is placed on a lower die 150, and an inner panel Pi is placed thereon. The robot arm 11 is positioned and mounted such that the outer peripheral edge Pg of the inner panel Pi is located inside the outer peripheral flange Pf of the outer panel Po.
The outer flange Pf of the outer panel Po is bent toward the inner panel Pi by a roller 120 rotatably mounted on the wrist 112 of the first panel 112 via a roller supporting part 140, so that the outer panel P which is the material W to be hemmed is formed.
o and the inner panel Pi.

In this conventional roll hemming apparatus 100, the robot 110 is taught to bend the outer peripheral flange Pf of the outer panel Po toward the inner panel Pi, and the movement locus of the roller 120 is determined by the thickness of the hemming material W. However, when hemming is performed, the actual trajectory deviates from the teaching trajectory due to the deflection of the robot arm 111 or the play of each joint of the robot 110, so that the pressing force of the roller 120 becomes insufficient. Therefore, the bending of the hemming portion is incomplete. As a technique to cope with this, it is disclosed in Japanese Patent Application Laid-Open No. H5-30535 that the roller 120 is supported by the roller support 140 so as to be displaceable in accordance with the pressing direction.
No. 7 discloses this.

[0004] That is, the technique described in the above publication is disclosed in FIG.
As shown in FIG. 1, the movement locus of the roller 120 when the outer peripheral flange Pf is fully bent is such that the roller 120
From the molding surface 155 of “(the thickness of the outer panel Po × 2)
It is desirable that the distance be equal to + the thickness of the inner panel Pi “δ”. However, since the robot 110 is not a completely rigid body, when the outer peripheral flange Pf is pressed by the roller 120 as shown in FIG. , The deflection of the robot arm 111 due to the reaction force of the outer peripheral flange Pf and the robot 1
Due to the play of each joint of No. 10, it is shifted by the distance α from the distance δ, the pressing force by the roller 120 becomes insufficient, and the bending of the outer peripheral flange Pf is incomplete, and This solves the problem that hemming did not occur.

In order to solve the above problem, Japanese Patent Laid-Open No. 5-3 is disclosed.
The technology described in Japanese Patent No. 05357 discloses a technology in which the roller 120 is supported by the roller support 140 so as to be displaceable in accordance with the pressing direction thereof. And those utilizing an electric motor are disclosed. FIGS. 13 and 14 show a hydraulic servo system as a typical example.

That is, in the example of the roller support portion 140 shown in FIGS. 13 and 14, a double-acting hydraulic cylinder 532 is provided on a support bracket 531 and this hydraulic cylinder 532 is provided.
Are controlled by a hydraulic control circuit shown in FIG. The support bracket 531 has a slide hole 531a having a rectangular cross section that opens downward, and a cylinder hole 531b formed at the bottom above the slide hole 531a. The piston shaft 533 is inserted into the cylinder hole 531b.
And the piston 533a integrally with the piston shaft 533,
It is slidably fitted while being sealed by sealings 534 and 534.

The piston 5 on the side wall of the cylinder hole 531b
Hydraulic ports 531d, 53
1e is open and the hydraulic ports 531d, 531
The oil flows out and in via a hose from a hydraulic unit separately provided in e, so that the piston shaft 533 can be moved up and down. The lower end of the piston shaft 533 is connected to a slide block 537 slidably inserted into the slide hole 531a via a screw portion 533b provided on the upper surface thereof. The slide block 537 has a roller 12
0 is attached.

The roller support 14 constructed as described above
By flowing oil in and out of the zero hydraulic ports 531d and 531e, the roller 120 can be moved in a direction coinciding with the pressing direction. In addition, this roller support portion 14
0 is the wrist 112 of the robot arm 111, wrist 1
It is mounted orthogonal to the twelve axes 112A.

[0009]

By the way, in the conventional roll hemming apparatus 100 described above, in which the above-described hydraulic pressure is used for the roller supporting portion 140, a hydraulic pump, its motor, a hydraulic hose, and the like are arranged. In order to handle the hydraulic hose along the robot arm 111, the robot 1
10 is likely to be limited, and oil leaks from the connection portion of the hydraulic hose and the hydraulic cylinder are likely to occur.
There is a problem that the operation rate of the system becomes low. Further, in the case of using the hydraulic pressure as in the conventional roll hemming apparatus 100, since the oil leakage and the mixing of air are apt to occur, the roller support 140 is removed from the wrist 112 of the robot and another tool is used. It was not possible to use the robot to increase the operating rate of the robot by using it for other than hemming. Further, in the case of using the hydraulic pressure as in the conventional roll hemming device 100, the hydraulic pump cannot be disposed near the hydraulic cylinder, which causes poor response and fine adjustment of the pressing force. It was difficult to do.

Therefore, the present invention solves the above problem by using an air cylinder for the roller support.
It is an object of the present invention to provide a roll hemming device in which the size of the device can be reduced, the roller support can be easily attached to and detached from the wrist of the robot arm, and the robot can be used for other processing purposes.

[0011]

According to a first aspect of the present invention, there is provided a roll hemming apparatus which positions and mounts both panels on a lower mold in a state where an inner panel is overlapped with an outer panel having an outer peripheral flange raised. By pressing the outer peripheral flange of the outer panel by a roller attached to the wrist of the robot arm and bending the outer panel toward the inner panel,
A roll hemming device that integrates an outer panel and an inner panel, wherein the roller has a roller supporting portion displaceably supported in a direction coinciding with a pressing direction of the roller. A sliding member held at one end of the base member so as to be slidable along the base member; and a sliding member interposed between the sliding member and the other end of the base member, with the sliding member protruding from the base member. And a roller rotatably mounted on a protruding end of the sliding member by a shaft orthogonal to the sliding direction of the sliding member.

Therefore, since the air pipe is normally attached to the end of the robot arm in the robot, the air cylinder can be operated using the existing air pipe.
Compared with the conventional hydraulic type, the size of the device can be reduced, and there is no fear of oil leakage and the like, and the number of maintenance steps can be greatly reduced.

According to a second aspect of the present invention, there is provided the roll hemming apparatus according to the first aspect, wherein the roller support portion is provided with a master plate fixed to a wrist side of a robot arm. A tool plate that is connected to and detachable from the master plate and is fixed to the roller support side, and is detachably attached to the wrist of the robot arm via a changer that can shut off the pneumatic port at the time of separation. It is characterized by having. Therefore, the operating rate of the robot can be improved by removing the roller support from the wrist of the robot arm and replacing it with another tool, and using the robot for other than hemming.

According to a third aspect of the present invention, in the roll hemming apparatus according to the first or second aspect, the electropneumatic regulator for controlling the air pressure of the air cylinder is provided with a robot arm. It is characterized by being arranged in a part. Therefore, the pressure of the roller can be changed by controlling the air pressure of the air cylinder based on a signal from the robot, and since the distance between the air cylinder and the electropneumatic regulator is short, the responsiveness is excellent.

[0015]

Next, an embodiment of a roll hemming device according to the present invention will be described below with reference to the drawings. Here, FIG. 1 is an overall perspective view of the roll hemming device of the present invention, and FIG. 2 is a perspective view of a roller supporting portion. 3 to 5 are front views of the roller support portion, respectively.
It is a side view and a perspective view.

(Configuration) The configuration of the roll hemming device according to the present invention will be described. Roll hemming device 10,
As shown in FIG. 1, a lower die 50 mounted on a lower die base 501 and a robot 10 mounted on a robot base 12
1 and the outer panel Po having the outer peripheral flange Pf of the hemmed material W raised in the same manner as in the prior art.
0, and the inner panel Pi is mounted thereon such that the outer peripheral edge Pg of the inner panel Pi is located inside the outer peripheral flange Pf of the outer panel Po.
2, the outer peripheral flange Pf of the outer panel Po is fixed to the inner panel P by a roller 24 attached to the wrist 13 of the robot arm 11 of the robot 101 via the roller support 20 as shown in FIG.
The outer panel Po, which is the hemmed material W, and the inner panel Pi are integrated by bending to the i side. The wrist 13 of the robot arm 11 is rotatably attached to the tip of the robot arm 11 via a rotation mechanism 102. In FIG. 1, the hemmed material W is not shown.

The roll hemming device 10 of the present invention employs an air cylinder 22 for the roller support portion 20, and a changer 30 that allows the wrist portion 13 of the robot arm 11 and the roller support portion 20 to come and go freely. The feature is that it is connected by Hereinafter, this point will be described in detail.

First, the roller support portion 20 is shown in FIGS.
As shown in FIG. 1, a base member 21 detachably attached to the wrist portion 13 of the robot arm 11 of the robot 101 via a changer 30, and one end of the base member 21 is slidably held along the base member 21. A sliding member 23, an air cylinder 22 interposed between the sliding member 23 and the other end of the base member 21 to urge the sliding member 23 in a direction to protrude from the base member 21. And a roller 24 rotatably connected to a projecting end of the slide member 23 by a support shaft 245 orthogonal to the sliding direction of the slide member 23.

The base member 21 is formed by welding a top plate 212 made of a thick steel plate to an upper end of a rear plate 211 made of a rectangular thick steel plate at right angles to the rear plate 211, and to a lower end of the rear plate 211. Board 2
11 and a bottom plate 214 made of a thick steel plate is welded at a right angle to the rear plate 2.
11 and the left and right ends of the top plate 212 and the bottom plate 214,
11 and the trapezoidal vertical wall plates 213 and 213 connecting the top plate 212 and the bottom plate 214 are welded into a box shape opened forward. On the upper surface of the top plate 212, the base member 21 and thus the roller support 20 are attached to the robot arm 11
The tool plate 32 of the changer 30 for detachably attaching to the wrist part 13 is attached. The bottom plate 214 is provided with a notch 2141 in the same direction as the opening direction of the base member 21, and is formed in a concave shape in plan view.

The cylinder body 221 of the air cylinder 22 is provided on the lower surface of the base member 21 opposite to the upper surface of the top plate 212.
Are bolted so that the center of the piston rod 222 of the air cylinder 22 substantially coincides with the axis of the wrist 13 of the robot arm 11 so that the air cylinder 22 is
It is attached to 1. A piston rod 222 of the air cylinder 22 protrudes downward, and a piston head 223 having a T-shaped cross section is fixed to a tip of the piston rod 222 with the wide bottom surface facing down.

A hanging plate 215 hanging downward is welded to the back side of the lower surface of the bottom plate 214 of the base member 21, and a sliding member 23 is attached to the front surface of the hanging plate 215 by a sliding member 23.
15 is slidably held along.

The sliding member 23 has a T-shaped stopper 236 at the upper end of a main body 231 having a rectangular cross section, and the main body 231 is screwed to the front surface of the hanging plate 215 at the bottom with a U-shaped cross section in plan view. 232 and a cover 233 that closes the front opening of the case 232, is slidably housed vertically in a space formed by the cover 233.
4 is rotatably pivoted.

The case 232 at the upper end of the sliding member 23
A T-shaped stopper 236 projecting upward from the bottom plate 214 is formed so as to enter the notch 2141 of the bottom plate 214 of the base member 21.
2 so that the sliding member 23 does not come off the case 232. The lower end of the sliding member 23 projects downward from the case 232.
Of the roller 24 is restricted so that the upward stroke of the roller 24 is restricted. Further, a plurality of sliding members 23 are provided in a portion of the sliding member 23 that is housed in the case 232 in order to reduce sliding resistance so that the sliding member 23 slides smoothly against the case 232 and the cover 233. An oilless metal (not shown) is embedded.

The roller 24 which comes into contact with the outer peripheral flange Pf of the material W to be hemmed and bends the outer peripheral flange Pf toward the inner panel Pi is provided in a roller mounting hole 234 formed in the lower end of the sliding member 23 and at the tip thereof. The support shaft 245, which is the shaft of a roller follower 241 that rotatably holds the roller 24 with the provided bearings, is inserted and tightened with a mounting nut 243 to a screw portion continuous from the support shaft 245 protruding from the back surface of the sliding member 23. Attached.

Further, since the roller 24 is slightly eccentric from the axis of the air cylinder 22 via the sliding member 23,
A thrust washer 244 is inserted between the rear surface of the roller 24 and the sliding member 23 so that the rotation of the roller 24 is smooth even if a load acts on the sliding member 23 in a direction in which the roller 24 is inclined. I have.

Next, a changer 30 as shown in FIGS. 6 and 7 is interposed between the wrist portion 13 at the tip of the robot arm 11 and the roller support portion 20, so that the roller support portion 2 is provided.
0 can be easily detached from the wrist 13. That is, a master plate 31 that constitutes one of the changers 30 is attached to the wrist 13 side of the robot arm 11, as shown in FIG. The changer 30 used in the present embodiment is a quick change “Flex-300” manufactured by LB Autotech Co., Ltd., which is an off-the-shelf product and will only be briefly described. That is, the master plate 31 is attached to the main body 311 attached to the wrist 13.
In addition, a fitting portion 314 that has a pneumatic port and an electrical signal contact connected to the air pipe on the robot 101 side and that fits into a fitting hole 324 of the tool plate 32 described later is formed in the center of the lower surface of the main body 311. Have been. This fitting portion 314
A plurality of rigid spheres 315 which lock and prevent the fitting when fitting into the fitting hole 324 of the tool plate 32 are provided on the fitting portion 31.
4 are mounted so as to radially protrude from the center.

On the other hand, as shown in FIG. 7, the tool plate 32 attached to the roller support 20
A circular fitting hole 324 is formed at the center of 1, and has a pneumatic port and an electric signal contact like the master plate 31. The master plate 31 and the tool plate 32 are configured so as to be able to shut off the pneumatic port when separated, so that air pressure can be supplied to the air cylinder 22 of the roller support 20 via the pneumatic port.

Next, the air circuit of the air cylinder 22 will be described. As shown in FIG. 8, an import 1521 of an existing electromagnetic switching valve 152 provided on the robot 101 side.
One of the three ports on the side is a pipe 151 of factory air.
And the other two ports are connected to a silencer 153. Export 15 of electromagnetic switching valve 152
One of the two ports on the 22 side is the robot arm 1
1 and connected to the port above the air cylinder 22 of the roller support 20 via the master plate 31 and the tool plate 32 of the changer 30 described above. Solenoid switching valve 15
The other port on the export 1522 side is connected to the lower port of the air cylinder 22 of the roller support 20 via the master plate 31 and the tool plate 32 of the changer 30.

(Operation) Next, the operation of the roll hemming apparatus 10 according to the present embodiment configured as described above will be described. First, the teaching operation of the robot 101 when the hemming target material W is fully bent by the roll hemming device 10 will be described. Before the teaching operation, the piston rod 222 of the air cylinder 22 of the roller support unit 20 is extended to bring the piston head 223 into contact with the stopper 236 at the upper end of the sliding member 23 in a pressurized state,
The sliding member 23 and thus the roller 24 are fixed to the roller support 20.

In the above state, the robot arm 11 is moved to bring the roller 24 into contact with the molding surface 55 of the lower die 50 (contact point (a) in FIG. 9). The position data of the contact point (a) is input to the robot 101. Next, the robot arm 11
To move the roller 24 to the next point on the molding surface 55 (FIG. 9).
Contact point (b)), and the position data of the contact point (b) is input to the robot 101. By repeating such work, when the material to be hemmed W is a hood of an automobile, the above-mentioned position data is changed from 80 points to 100 points,
These are stored in the memory of the robot. The contact of the roller 24 with the lower mold 50 is only contact, and no load is applied.

By the way, since the material to be hemmed W often draws a three-dimensional curved surface, if it is moved in a straight line from one point of teaching to the next point, the intermediate portion is
4 is in a state of slightly floating from the lower mold 50. That is,
As shown in FIG. 9, the roller 24 and the molding surface 55 of the lower mold 50 are formed.
Roller 2 from the first contact (a) to the next contact (b)
4 is moved linearly, but since the forming surface 55 is a three-dimensional curved surface, a gap having a dimension β is formed between the linear movement locus of the roller 24 and the forming surface 55 at an intermediate portion between the contact points (a) and (b). . Therefore, if the roller 24 is guided to the portion where the gap is generated, the roller 24 is brought into contact with the molding surface 55 (the dimension β is set to 0), and the position data is stored in the robot 101, the teaching accuracy becomes higher. Although it is improved, the amount of position data becomes enormous, a large amount of memory is required for the robot 101, and the hemming processing is performed following these data, so that the processing speed becomes slow.

Therefore, when the main bending is performed by the roll hemming device 10 that has been taught in the above state,
The roller 24 is supported by the air cylinder 22 so as to be displaceable in a direction coinciding with the pressing direction, and the teaching of the robot is performed with reference to the molding surface 55 of the lower die 50. Sheet thickness ×
2) Roller 2 within the range of “+ the thickness of the inner panel Pi”
The gap having the above-mentioned dimension β formed between the roller 4 and the molding surface 55 is absorbed, the pressing force of the roller 24 is maintained at an appropriate value, and good hemming can be performed.

The electropneumatic regulator 40 changes the air pressure acting on the air cylinder 22 by an electric signal, whereby the pressure applied to the roller 24 by the air cylinder 22 can be easily changed. That is, since the control is performed by the electric signal, the control can be performed by the control panel of the robot, and the cost can be reduced.

As described above, the air cylinder 22 for pressurizing the roller 24 is attached to the roller support portion 20 of the roll hemming device 10, and the air supplied to the air cylinder is supplied from the factory air through the air pipe arranged in the robot. Since the power is supplied via the electropneumatic regulator 40 attached to the arm 11 and the changer 30 attached to the wrist 13 and the roller attachment portion 20 of the robot arm 11, the existing air pipe in the robot can be utilized, and The pressing force of the roller 24 can be easily changed by the electro-pneumatic regulator 40, and further, by mounting the roller support 20 via the changer 30, another tool can be transferred to the wrist 13 of the robot arm 11. Has made it possible to generalize the robot 101.

It should be noted that the present invention is not limited to the above embodiment, and various changes can be made without departing from the spirit of the present invention. For example, in the above embodiment,
Although the roller 24 is shown as having a groove, it is not limited to this, and a roller without a groove may be used. Although the changer is shown as an off-the-shelf product, it is convenient if it is a quick change type.

[0036]

According to the present invention, both panels are positioned and mounted on the lower die in a state where the inner panel is overlaid on the outer panel having the outer flange raised, and the outer flange of the outer panel is attached to the wrist of the robot arm. A roll hemming device that integrates an outer panel and an inner panel by pressing with a roller and bending the inner panel side, wherein the roller is supported so as to be displaceable in a direction coinciding with the pressing direction. A support member for the roller, a base member, a slide member slidably held at one end of the base member along the base member, and a support member interposed between the slide member and the other end of the base member. An air cylinder that urges the sliding member in a direction protruding from the base member, and an axis perpendicular to the sliding direction of the sliding member at the protruding end of the sliding member. Since it is composed of rollers that are rotatably pivoted, the air cylinder can be operated using the air piping of the robot, and the size of the device can be reduced compared to the conventional hydraulic type. There is no danger of leakage and the number of maintenance steps can be reduced significantly. Also, the roller support can be detachably attached to the wrist of the robot arm via a changer,
As a result, the operation rate of the robot could be improved.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a roll hemming device according to one embodiment of the present invention.

FIG. 2 is a perspective view showing a state in which a roller supporting portion of the roll hemming device according to one embodiment of the present invention is attached to a wrist portion of a robot arm.

FIG. 3 is a front view of a roller supporting portion of the roll hemming device according to one embodiment of the present invention.

FIG. 4 is a side view of a roller supporting portion of the roll hemming device according to one embodiment of the present invention.

FIG. 5 is a perspective view of a roller supporting portion of the roll hemming device according to one embodiment of the present invention.

6A is a plan view and FIG. 6B is a side view of a master plate of a changer used in the roll hemming device according to one embodiment of the present invention.

FIGS. 7A and 7B are a side view and a plan view of a tool plate of a changer used in the roll hemming device according to one embodiment of the present invention; FIGS.

FIG. 8 is an air piping diagram of the roll hemming device according to one embodiment of the present invention.

FIG. 9 is an enlarged cross-sectional view illustrating a teaching state of the roll hemming device according to one embodiment of the present invention.

FIG. 10 is an overall side view of a conventional roll hemming device.

FIG. 11 is a cross-sectional view showing a completed state of a conventional roll hemming process.

FIG. 12 is a cross-sectional view showing a state in the middle of a conventional roll hemming process.

FIG. 13 is a sectional view of a roller supporting portion of a conventional roll hemming device.

FIG. 14 is a hydraulic circuit diagram of a roller supporting portion of a conventional roll hemming device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Roll hemming apparatus 20 Roller support part 21 Base member 22 Air cylinder 23 Sliding member 24 Roller 30 Changer 31 Master plate 32 Tool plate 40 Electropneumatic regulator 50 Lower mold

Claims (3)

[Claims] In a state where the inner panel is overlaid on an outer panel having an outer peripheral flange raised, both panels are positioned and mounted on a lower mold, and the outer peripheral flange of the outer panel is pressed by a roller attached to a wrist of a robot arm. A roll hemming device that integrates the outer panel and the inner panel by folding the roller to the inner panel side, wherein the roller is supported so as to be displaceable in a direction coinciding with the pressing direction of the roller. A base member, a slide member slidably held at one end of the base member along the base member, and a slide member interposed between the slide member and the other end of the base member. Air cylinder that urges the slide member in the direction that it protrudes from the base member, and the protruding end of the slide member is rotatable by an axis that is orthogonal to the slide direction of the slide member. A roll hemming device comprising a pivotally mounted roller. 2. The roll hemming device according to claim 1, wherein the roller support is fixed to a wrist of the robot arm, and a roller support that can be connected to and separated from the master plate. A roll hemming device comprising a tool plate fixed to the side, and detachably attached to a wrist of a robot arm via a changer capable of shutting off a pneumatic port when separated. 3. The roll hemming device according to claim 1, wherein an electropneumatic regulator for controlling the air pressure of the air cylinder is arranged on an arm of the robot.