JP2003136161A - Hemming apparatus and hemming method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To significantly reduce a process time for hemming by completing a hemming process by rolling-pressing a bending roller only one time in order to solve the conventional problem that it is difficult to reduce a process time because a bending portion after a flange raising process is bent by about 45 degrees by preliminary bending, the posture of a bending roller is changed and the portion is rolling-pressed again carry out a final bending process, e.g. in a hemming process to be applied along the periphery edge of a door panel of an automobile. SOLUTION: A bending roller R is rolling-pressed along a bending portion (We) in a posture in which a rotation axis R3 is inclined toward a direction of delay of a bending end (Wee) in a plain view with respect to a normal R2 crossing a rolling-pressing direction R1 at right angles. In this way, the portion (We) can be bent with the portion (We) given with a side pressure of a bending direction, and thus the portion (We) can be bent into a folding state only by a single bending process.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for hemming a peripheral portion of a door panel, a hood panel or the like (hereinafter, simply referred to as a work) of an automobile.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent No. 1844282 and Japanese Patent No. 2
As disclosed in Japanese Patent No. 693282, etc., as a device for performing this kind of hemming, a bending roller is attached to a robot hand, and the bending roller is bent along the peripheral edge of the work by the operation of the robot hand. There is provided a roller rolling type hemming processing device configured to perform a hemming process on a bending portion by rolling along the processing portion. According to this hemming processing apparatus, by operating the robot hand according to a predetermined operation program,
Since the bending roller can be rolled along an arbitrary three-dimensional locus, smooth high-quality hemming can be performed along the curved shape of the work. Further, since it is possible to easily cope with the change of the curved shape of the work by changing the operation program of the robot hand, it is possible to exert high versatility unlike the conventional bending work by the press die.

[0003]

However, when hemming is performed by using the roller rolling type hemming device, the peripheral edge of the work W is bent by approximately 90 ° (flange) as shown by the solid line in FIG. In order to bend the bent portion We which has been subjected to the vertical processing) to the folded state at a time as shown by the two-dot chain line in the figure, the rotation axis of the bending roller R is made substantially orthogonal to the surface direction of the bending roller. When R is pressed against the tip of the bent portion We, the bent portion is buckled as shown in FIG. 20 and cannot be bent to the folded state. One of the features of the hemming process is that there is no object that regulates bending inside or outside. For this reason, conventionally, as shown in FIG. 21, the bent portion W that has been flanged is formed.
First, the bending roller R is tilted at an angle of about 45 ° with respect to e, and is bent inward in the bending direction by about 45 ° (preliminary bending step). The horizontal posture (Fig. 19)
The posture shown in FIG. 19) is changed and the bending roller R is pressed again along the same rolling path to bend the pre-bent bent portion We completely to the folded state as shown by the chain double-dashed line in FIG. (Finish bending process). This is also the case with the conventional hemming device using a press die, and in order to avoid buckling of the bent portion, it is necessary to perform the hemming process in two steps, a preliminary bending step and a finishing bending step. There are many systems in which a mold is prepared for each process and these are assembled in the same mold device, and in particular, it is often difficult to manufacture and adjust for pre-bending, and a device capable of hemming in one process is required. It was

As described above, according to the conventional hemming device, the pre-bending step and the finishing bending step are performed for the bent portion We which is flanged in order to prevent buckling of the bent portion We. It was necessary to perform bending work. For this reason, it is necessary to roll the bending roller R twice along the same bent portion, which makes it difficult to shorten the hemming processing time. Further, in the conventional hemming apparatus using a press die, a pre-bending step and a finishing bending step are required to avoid buckling of the bent portion, and therefore a die is required for each step, A lot of time is spent on the adjustment, which causes an increase in die manufacturing cost and requires the operator to perform a high level of work. That is, in the conventional hemming apparatus, since it is configured to perform the preliminary bending step, not only the apparatus becomes complicated and the cost increases, but also the low productivity due to the advanced adjustment technology and the long hemming time is a problem. Was becoming. Therefore, the present invention provides a hemming method and a device therefor capable of completing the hemming with only one bending step for the peripheral edge of a flan-finished work without performing the conventional so-called preliminary bending step. The purpose is to provide.

[0005]

For this reason, the present invention provides a hemming method or a hemming apparatus having the configurations described in the respective claims. According to the hemming method of claim 1, since the bending portion is bent while applying lateral pressure in the bending direction to the bending portion, the bending portion is folded back from the flange standing state in one bending step. Bending can be done up to 90 ° without buckling up to the state, so there is no need to perform bending separately in two steps, a preliminary bending step and a finishing bending step, as in the past, which shortens the hemming time. Moreover, the hemming apparatus can be greatly simplified and downsized. According to the hemming method of claim 2, the bending surface of the bending roller (the portion pressed by the bending portion) is bent while maintaining a state in which the bending tip side is delayed with respect to the normal line orthogonal to the rolling direction. By rolling the roller, the bending portion can be bent while applying lateral pressure in the bending direction to the bending portion. Therefore, even if the conventional preliminary bending is omitted, the bending portion can be bent without buckling. Bending can be performed in a single bending step from the standing state to the folded state, whereby the hemming processing time can be shortened, and the hemming processing apparatus can be greatly simplified and downsized. According to the hemming processing apparatus of claim 3, the bending roller, when viewed in plan, tilts its rotation axis in a direction in which the bending tip side is delayed with respect to a normal line orthogonal to the rolling direction (moving direction of the bending roller). Since the pressure is applied to the bending portion in a bent posture, the pressing force of the bending roller acts on the tip of the bending portion as a component in the direction of pressing the bending portion in the bending direction. It can be bent to a folded state without bending.
Therefore, the hemming process can be completed in one bending process without performing the conventional pre-bending process, whereby the time of the hemming process can be shortened. According to the hemming device of claim 4, the taper-shaped bending roller positions its small diameter side at the tip side of the bending portion, and its rotation axis is parallel to the bending portion at the time of completion of the hemming processing. Since the pressing force of the bending roller acts on the tip of the bending portion as a component (side pressure) in the direction of pressing the bending portion in the bending direction, the bending portion buckles. You can fold it to the folded state without having to. Therefore, without performing the conventional preliminary bending process,
The hemming process can be completed in a single bending process, and thus the time of the hemming process can be shortened.

According to the hemming method of claim 5 or the hemming apparatus of claim 7, the bending blade has a combined direction of a surface direction of the bending portion and a direction orthogonal to the tip of the bending portion ( Since it is pressed diagonally downward),
Lateral pressure in the bending direction is applied to the bent portion. Therefore, the bent portion can be bent to a folded state without buckling. Therefore, the hemming process can be completed in one bending process (one shot) without performing the conventional pre-bending process, whereby the pre-bending process can be eliminated from the hemming process. According to the hemming method of claim 6 or the hemming apparatus of claim 7, in addition to the above-described function and effect, a direction (horizontal direction) orthogonal to the mold clamping direction of the bending blade (the surface direction of the bent portion). It is possible to more reliably bend the bent portion to the folded state while minimizing the moving distance and minimizing the sliding of the bending blade with respect to the bent portion. According to the hemming device of claim 8, by moving the bending blade in the combined direction of the X-axis direction and the Y-axis direction (obliquely downward), a pressing force in the bending direction can be applied to the bent portion. Therefore, the folded portion can be bent to a folded state without buckling. Therefore, since the hemming process can be completed by only one bending process without performing the conventional pre-bending, the pre-bending process (device) can be eliminated from the hemming process.
According to the hemming processing apparatus of the ninth aspect, in addition to the above-described function and effect, the versatility of the hemming processing apparatus can be enhanced for various processing modes.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Next, a first embodiment of the present invention will be described with reference to FIG.
~ It demonstrates based on FIG. FIG. 1 shows a hemming processing apparatus 1 of the first embodiment. In the first embodiment, a roller rolling type hemming device 1 is exemplified. This hemming processing device 1 is provided with a robot hand 2 that is multi-axis controlled.
A (polar coordinate type articulated robot), a lower die 5 for setting a work W, and a base 7 for fixing them in a fixed positional relationship with each other are provided. A bending roller R is rotatably attached to the tip of the robot hand 2 via a supporting device 3. The robot hand 2 is operated based on a program stored in advance by teaching. The bending roller R is moved to the work W by the operation of the robot hand 2.
By rolling along the bent portion We set along the peripheral edge of the bent portion We, the bent portion We is bent in a folded state, and a hemming process is performed. Work W is
A door panel for an automobile, which is composed of an inner panel Wi and an outer panel Wo, and a bent portion We set at the outer peripheral edge of the outer panel Wo is folded back to sandwich the inner peripheral edge of the inner panel Wi.
o and Wi are integrated. This work W is placed on the upper surface 5a of the lower die 5 and fixed at a fixed position by fixing tools 6-6.

FIG. 2 shows a plan view of a state in which a bending roller R is pressed against a bending portion We of a work W (outer panel Wo) to perform bending. In this specification, "viewing in plan" refers to viewing from the direction of arrow H in FIG. 1, and viewing from a direction orthogonal to the bent portion We in a bent state. In the figure, a straight line R1 with an arrow indicates the rolling direction (moving direction) of the bending roller R. Hereinafter, a straight line with an arrow indicating the rolling direction of the bending roller R is also referred to as rolling direction R1. The rolling direction R1 of the bending roller R corresponds to a tangent line in contact with the arc shape of the bent portion We. When the bent portion has a linear shape, the rolling direction of the bending roller R is a parallel straight line along the bent portion. The straight line R2 is the rolling direction R
1 shows the normal line orthogonal to 1, and the straight line R3 shows the rotation axis of the bending roller R. The rotation axis R3 is inclined at an angle θ1 with respect to the normal R2 when seen in a plan view. Rotation axis R3
The inclination direction of the bending roller R with respect to the normal line R2 is set such that the end of the bending portion We on the tip side Wee side of the bending portion R is delayed when viewed from the rolling direction. On the other hand, as shown in FIG. 3, the rotation axis R3 of the bending roller R is set parallel to the bent portion We in the folded state when viewed from the side as shown by the arrow Y in FIG. ing. This point is the same as the conventional posture for finish bending.

According to the hemming processing apparatus 1 described above, the bending roller R is rolled by the operation of the robot hand 2 to the bending portion We of the work W pre-flanged at 90 ° in an inclined posture. The hemming process can be completed in one bending step without performing the conventional pre-bending and without causing the buckling of the bent portion We. That is, when viewed in a plan view, the bending roller R is pressed onto the bending portion We in a posture in which the rotation axis R3 is inclined with respect to the rolling direction R1 in the direction in which the bending tip side Wee is delayed by the angle θ1, A part of the pressing force of the roller R acts as a component (lateral pressure) on the bent portion tip side Wee in a direction of pressing the bent portion We in the bending direction. In this way, the bending roller R is rolled in a posture in which it is inclined with respect to the rolling direction, so that the bending portion We has a pressing force in the surface direction thereof and a direction (side direction) orthogonal to the surface direction. Since the pressing force (side pressure) acts, even when the bending roller R is pressed against the bending portion We in the conventional finish bending posture, the bending portion We does not buckle and the two-dot chain line in FIG. It can be bent to the folding position indicated by. Therefore, the hemming process can be completed by bending the bent portion to the folding position without performing the conventional preliminary bending and without causing buckling.

Conventionally, the bending roller R is pre-bent in a pre-bending posture in which the rotation axis R3 of the bending roller R is tilted at an angle of about 45 ° when viewed from the side, and then the rotation axis R3 is laterally viewed in a folded state. The bending process was performed again in the finish bending posture by being positioned in parallel with the bent portion We. On the contrary,
According to the illustrated hemming processing method, the rotation axis R3 of the bending roller R is left in the same state as the conventional finish bending posture (parallel to the folded portion We in which the rotation axis is folded) when viewed from the side, and a flat surface is obtained. From the perspective, by inclining in a constant direction with respect to the rolling direction, the bent portion We can be bent from the flange standing state to the folded state by only one bending process without causing buckling. Therefore, according to the hemming processing apparatus 1 of the first embodiment and the hemming processing method using the hemming processing apparatus, the hemming processing time can be significantly shortened (about half that of the conventional method).

Various modifications can be added to the first embodiment described above. For example, with respect to the compacted posture of the bending roller R in plan view, the inclination angle θ1 is the bending angle of the flange standing process that is performed in advance (angle from the portion along the upper surface 5a of the lower die 5, hereinafter flange standing angle θ2, 19 (see FIG. 19). For example, when the flange rising angle θ2 is about 60 ° to 80 °,
If the inclination angle θ1 is set to about 10 ° to 15 ° and the flange stand angle θ2 is about 80 ° to 100 °, the inclination angle θ
By setting 1 to about 20 ° to 30 °, the above-described operation can be effectively obtained. Also, the tilt angle θ
1 can be variously changed depending on the diameter of the bending roller R, the shape of the bent portion We, and other factors. Further, in the above-described first embodiment, the configuration using the cylindrical bending roller R whose diameter does not change is exemplified, but a tapered bending roller RT whose diameter changes as shown in FIGS. 4 and 5, for example. Use the bent part We to 1
It is also possible to perform bending from the flange standing state to the folded state by rolling pressure once. The bending roller RT is positioned such that its small diameter side is located at the tip side of the bending portion We, and its processing surface (the portion of the ridge line contacting the bending portion) is parallel to the bending portion We when the bending processing is completed. By arranging the rotation axis R3 so that the pressing force of the bending roller acts as a component (lateral pressure) in the direction of pressing the bending portion in the bending direction with respect to the tip of the bending portion, the bending portion is therefore seated. It can be bent to a folded state without bending. Therefore, even with the taper-shaped bending roller RT, the bending portion We can be bent from the flange-standing state to the folded-back state by a single rolling pressure as with the bending roller R, thereby significantly reducing the hemming processing time. can do. The embodiment (second embodiment) described above corresponds to the embodiment of the invention described in claim 2 or claim 4. In the second embodiment, the bending roller R
The rotation axis R3 of T can be inclined at an angle θ1 with respect to the normal R2 orthogonal to the rolling direction R1 when seen in a plan view.

With respect to the first and second embodiments described above, the principle of applying a lateral pressure in the bending direction to the bending portion We by appropriately controlling the shape or rolling posture of the bending roller will be described. As shown in FIG. 6, a cylindrical bending roller R having a constant diameter is rotated along its bending portion We in the direction of arrow R1 (in the bending portion We in a state where the rotation axis R3 is inclined at an angle θ1 with respect to the normal line R2). When the bending roller R rolls in the direction (rotational direction), the direction in which the bending roller R tries to roll (rotational direction) is the direction of arrow C (rotational axis R).
3), the rotation direction C is a direction inclined at an angle θ1 with respect to the rolling direction R1. Therefore, the bending roller R is compressed while sliding outward (in the direction opposite to the arrow S) with respect to the bending portion We. From this, the pressing force applied to the bent portion We through the bending roller R (the pressing force along the surface direction of the bent portion We, that is, the pressing force in the direction of causing buckling in the conventional case) is in the direction of the arrow S. The component becomes a force (side pressure S) that presses the bent portion We in the bending direction and is applied to the bent portion We, whereby the bent portion We is surely bent in the folding direction without buckling.

Further, as shown in FIG. 7, a taper-shaped bending roller RT whose diameter changes is positioned such that its small diameter side is located at the bending portion tip side Wee, and its rotation axis R3 is a normal line R.
2 along the bent portion We in the state of being aligned with the arrow R1
When the bending roller RT rolls in the direction, the direction in which the bending roller RT tries to roll (the rotation direction) is the direction of the arrow C (the direction orthogonal to the ridgeline E of the peripheral surface), and thus the rotation direction C is the rolling direction R.
The angle is an angle θ3 with respect to 1. This angle θ
3 corresponds to the inclination angle of the peripheral surface (ridge line E) with respect to the rotation axis R3. Therefore, also in the case of this bending roller RT, the pressure is applied while sliding to the side opposite to the arrow S with respect to the bending portion We. From this, the pressing force applied to the bent portion We through the bending roller RT (the pressing force along the surface direction of the bent portion We, that is, the pressing force in the conventional direction causing buckling) is in the direction of arrow S. The component becomes a force (side pressure S) that presses the bent portion We in the bending direction, and the bent portion We
Therefore, the bent portion We is surely bent in the folding direction without causing buckling. In the case of the taper-shaped bending roller RT, the lateral pressure S is increased by inclining the rotation axis R3 thereof by an angle θ1 with respect to the normal line R2 in the direction in which the bent portion tip side Wee is delayed and rolling the roller. You can

Next, a third embodiment of the present invention will be described with reference to FIGS.
It will be described based on 5. In the third embodiment, a press type hemming processing device 10 is exemplified. The hemming processing apparatus 10 of the third embodiment is shown in FIG. The hemming processing apparatus 10 includes an upper die 11 that moves up and down and a work W.
A lower die 12 for setting the above, a bending blade 14 attached to the upper die 11 via an X-axis direction slide device 13,
A cam die 15 for moving the bending blade 14 in the X-axis direction is provided. The work W and the lower die 12 are the same as those in the first embodiment. The upper die 11 is moved up and down by an elevating device using a hydraulic cylinder (not shown) as a drive source. An X-axis direction slide device 13 is attached to the lower surface side of the upper mold 11. In this specification, the X-axis direction means the horizontal direction (left-right direction in FIG. 8). The X-axis direction slide device 13 includes a base 13d slidable in the X-axis direction by a slide mechanism 13c including a slide rail 13a and a slide body 13b which moves along the slide rail 13a, and a base 13d and an upper die 11 interposed between the base 13d and the base 13d. Mounted compression spring 13e and follower 13 rotatably attached to base 13d via bracket 13f.
g. The base 13d is biased by the compression spring 13e in the direction of moving to the right in FIG. The movement of the base 13d to the right is restricted by the stopper 13h. The X-axis direction slide device 13
Does not have a special drive source for sliding the base 13d. The bracket 13f extends downward from the lower surface of the base 13d, and is located at the tip end side of the bracket 13f.
A follower 13g is rotatably supported at a certain distance downward from position 1. The bending blade 14 is attached to the lower surface side of the base 13d so as to project downward. The bent portion We of the work W is located below the bending blade 14. On the other hand, below the follower 13g, a cam die 15 is mounted on a receiving stand 15b and fixed at a constant height.

With the hemming apparatus 10 and the hemming method according to the third embodiment configured as described above, the bending portion We is folded back from the flange standing state by one lowering operation (one shot) of the upper die 11. It is bent to about 90 ° to the state and the hemming process is completed without performing the conventional pre-bending. That is, upper mold 1
When 1 descends by a certain distance, the follower 13g abuts on the cam surface 15a of the cam die 15, and the upper die 11 further descends in this abutting state, so that the base 13d slides between the follower 13g and the cam surface 15a. The contact action slides to the left in the X-axis direction in the figure against the compression spring 13e. As the upper die 11 descends, the base 13d slides to the left in the X-axis direction (inward in the bending direction), so that the bending blade 14 is arranged in the descending direction (vertical direction) of the upper die 11 and the X-axis direction (horizontal direction). It moves along a circular arc-shaped trajectory in the composite direction (obliquely downward). As shown in FIG. 9, after the bending blade 14 starts moving obliquely downward, the tip of the bending blade 14 contacts the tip of the bent portion We of the work W. With the tip of the bending blade 14 in contact with the bent portion We, the upper die 11 is further lowered and the follower 13g is brought into sliding contact with the cam surface 15a of the cam die 15, whereby the bending blade 14 is slid in the X-axis direction. It moves to the left in the X-axis direction via 13c, which causes the bending blade 14 to move obliquely downward along an arcuate locus. This state is shown in FIG. When the bending blade 14 moves along such an arcuate locus, the bending portion We
Is pressed from above while receiving a pressing force in the bending direction (left in the X-axis direction), so that it can be bent without buckling. The position of the cam surface 15a is set so that the follower 13g is disengaged from the end of the cam surface 15a at the time when the bending of the bent portion We reaches the final stage (when it is bent by 45 ° or more from the flange standing state). ing.

When the follower 13g comes off the cam surface 15a, the follower 13g descends along the vertical direction as the upper die 11 descends. Therefore, the X-axis direction slide device 1
The movement of the bending blade 14 in the X-axis direction by 3c ceases at this point, so that the bending blade 14 descends along the vertical direction (the same direction as the moving direction of the upper die 11), whereby the bending portion We moves in the vertical direction. It is bent to a folded state by a bending blade 14 that descends straight along the. FIG. 10 shows a state in which the bent portion We is bent to the folded state. Further, the movement of the bending blade 14 along the arc-shaped locus directed obliquely downward and the subsequent movement downward in the vertical direction are shown by white arrows in FIG. 10. When the upper die 11 reaches the lower end and the bent portion We is completely folded back to the folded state, the upper die 11 starts to move upward. When the upper die 11 is raised, the bending blade 1
4 and the follower 13g rise through the route opposite to that when the upper mold 11 descends. When the follower 13g reaches the cam surface 15a, the bending blade 14 slides upward in the X-axis direction by the compression spring 13e of the X-axis direction slide device 13c. When the follower 13g separates from the cam surface 15a, X
The base 13d of the axial slide device 13c is the compression spring 1.
It is returned to the state of being in contact with the stopper 13h by 3e. When the upper mold 11 is returned to the rising end in this state, a series of hemming processing by the hemming processing apparatus 10 of the present embodiment is completed. In order to perform the hemming process on another part, the series of operations described above is repeated.

According to the hemming apparatus 10 and the hemming method of the third embodiment configured as described above, the bending blade 14 moves obliquely downward along an arcuate locus, and therefore, at the bent portion We. It can be folded back up without buckling. Therefore, the conventional pre-bending step is omitted and the upper die (die for finish bending) 1
The hemming process can be completed by one lowering operation (one shot) of 1, so that the conventional pre-bending mold can be eliminated. Various modifications can be added to the hemming processing apparatus 10 of the third embodiment described above. For example, as shown in FIGS. 11 to 14, the shape of the tip corner portion of the bending blade 14 can be changed to various shapes.
A flat chamfer 16a is formed at the tip corner of the bending blade 16 shown in FIG. Bending blade 1 shown in FIG.
A convex portion 17a having an arc-shaped cross section is formed at a corner portion of the tip of 7. A stepped recess 18a is formed at the corner of the tip of the bending blade 18 shown in FIG. A concave portion 19a having an arc-shaped cross section is formed at the tip corner portion of the bending blade 19 shown in FIG.

The shape of the tip corner portion 14a of the bending blade 14 shown in FIGS. 9 and 10 is not particularly changed as compared with a general bending blade. In the case of this bending blade 14, the upper mold 1
At the stage of moving to the left in the X-axis direction (inward in the folding direction) by descending 1 and slidingly contacting the cam surface 15a of the follower 13g, the tip corner portion 14a is pressed against the folding portion We from the side. Therefore, the bending blade 14 is moved to the left in the X-axis direction to cause the tip corner portion 14a to slide (relatively move) on the surface of the bent portion We toward the tip side (while relatively moving the bent portion We). To go. When the bending of the bending portion We progresses and is bent to about 45 °, the tip corner portion 14a of the bending blade 14 is bent at the bending portion W.
By setting the timing at which the follower 13g is disengaged from the cam surface 15a so as to be disengaged from the tip of e, the movement of the bending blade 14 in the X-axis direction is stopped at this stage, and then descended along the vertical direction, The bent portion We can be bent more reliably and cleanly.

By using the bending blade 18 shown in FIG. 13 or the bending blade 19 shown in FIG.
It is possible to almost eliminate the slip of the bent portion 9 of the No. 9 portion. For example, as shown in FIG. 15, when a bending blade 18 is used, the bending blade 18 is shown in a white state in the drawing with the tip of the bent portion We inserted into the recess 18a (the state shown in the upper stage of FIG. 15). By moving it obliquely downward as indicated by the extraction arrow, the relative movement of the bending blade 18 with respect to the bending portion We until the bending portion We bends up to about 45 ° (the state shown in the middle of FIG. 15) ( Slippage) can be eliminated. The tip of the bent portion We is a concave portion 18
After being disengaged from a, by stopping the movement of the bending blade 18 to the left in the X-axis direction and moving it only in the vertical direction downward as shown by the white arrow in the figure (state shown in the lower stage of FIG. 15), The sliding of the bending blade 18 with respect to the bent portion We can be eliminated until the bent portion We is bent back. The chamfered portion 16a of the bending blade 16 shown in FIG. 11 and the convex portion 17a of the bending blade 17 shown in FIG.
Does not have a slip preventing effect as much as the bending blades 18 and 19 and bends while causing some sliding on the bending portion We, while making the sliding on the bending portion We smaller than when using the bending blade 14. be able to.

Next, FIG. 16 shows a hemming apparatus 30 of the fourth embodiment. The hemming processing apparatus 30 of the fourth embodiment is different from the hemming processing apparatus 10 of the third embodiment in the mechanism for moving the bending blade 33 in the X-axis direction. An upper die lowering position detecting device 32 for detecting the lowering position of 31, a bending blade 33, an X-axis direction sliding device 34 for moving the bending blade 33 in the X-axis direction, and an X-axis direction sliding device 3
A uniaxial drive device 35 for driving the work 4 and a lower die 36 for mounting the work W are provided. Similar to the third embodiment, the upper mold 31 is moved up and down by a lifting device using a hydraulic cylinder (not shown) as a drive source. Upper die lowering position detection device 3
Reference numeral 2 denotes a so-called linear scale including a detection dog 32a attached to the upper die 31 and a position sensor 32b for detecting the position of the detection dog 32a. The position of the detection dog 32a detected by the position sensor 32b, and thus the position of the upper die 31. Is input to the NC control device 35a of the uniaxial drive device 35. The X-axis direction slide device 34 is the same as the X-direction slide device 34 in the third embodiment.
It is configured similarly to the axial slide device 13c. On the lower surface of the base 34a of the X-axis direction slide device 34,
The bending blade 33 and the nut 35b of the uniaxial drive device 35 are attached. The 1-axis drive device 35 includes a servo motor 35.
c, a screw shaft 35d rotating therewith, a nut 35b meshing with the screw shaft 35d, and an NC controller 35a for controlling the rotation of the servomotor 35c.

The hemming apparatus 3 having the above structure
According to 0, when the upper die 31 descends to a certain position, this is detected by the upper die lowering position detection device 32. The detection signal output by the upper die lowering position detector 32 is NC
It is input to the control device 35a. In the NC control device 35a, when a constant detection signal is input from the upper die lowering position detection device 32 by a program that is input in advance, the servo motor 35c is activated and the screw shaft 35d rotates, which causes the X-axis direction slide. The base 34a of the device 34 is the screw shaft 3
It moves to the left in the X-axis direction by the meshing action of 5d and the nut 35b. As the upper die 31 descends, the base 34a moves to the left in the X-axis direction, so that the bending blade 33 is moved to the third position.
Similar to the embodiment, it descends obliquely downward along the locus in an arc shape. At this stage, the tip of the bending blade 33 becomes the work W.
Is abutted on the bent portion We which has been subjected to the flange stand processing in advance. In this contact state, the upper die 31 descends and the bending blade 33 descends along the arcuate locus, so that the bent portion We is bent from the flange standing state to the folded state similarly to the third embodiment. . in this way,
Also with the hemming device 30 of the fourth embodiment, since the bending blade 33 descends obliquely downward along the locus of the arc shape, the pressing force (lateral pressure) from the side with respect to the bent portion We.
As a result, it is possible to fold with a single shot up to the folded state without performing the conventional pre-bending, and thus the conventional pre-bending mold can be omitted as in the third embodiment. In the fourth embodiment, to change or adjust the operation of the bending blade 33, N
This can be performed by changing the program with the input device (numeric keypad or pendant) provided in the C control device 35a, and thereby the hemming processing device 30 can be made to correspond to the work W of various shapes.
Therefore, its versatility can be improved.

Various changes can be made to the fourth embodiment. For example, the upper die lowering position detecting device 32
Can be replaced with a structure as shown in FIG. The upper die lowering position detecting device 37 shown in FIG. 17 is attached to the rack 37a attached to the upper die 31, for example, the lower die 36 side, and the pinion 37b meshing with the rack 37a, and the pinion 37b attached to the output shaft. The encoder 37c is provided. The change in the meshing position of the pinion 37b with respect to the rack 37a accompanying the lowering of the upper mold 31 is converted into the rotation speed of the encoder 37c to detect the position of the upper mold 31, and this detection signal is input to the NC control device 35a as described above. It The hemming method of the present invention can also be carried out by a biaxial control type hemming apparatus 40 as shown in FIG. Unlike the third and fourth embodiments, the hemming processing device 40 of the fifth embodiment does not require the upper dies 11 and 31. This fifth
The hemming processing apparatus 40 of the embodiment includes a lower die 41 for mounting a work W, an elevating base 42 slidably supported on a side surface of the lower die 41 in a vertical direction, and elevating the elevating base 42 up and down. And a drive unit 43 for moving the bending blade 44, and an X-axis direction slide device 45 provided on the upper part of the lift base 42 for moving the bending blade 44 in the X-axis direction, and a base 45a of the X-axis direction slide device 45. The slide drive device 46 for sliding in the direction is provided. The elevating base 42 is slidably supported in the vertical direction via rails 42a attached to the side surface of the lower die 41 in the vertical direction.

The lift drive device 43 includes a base 43a attached to the side surface of the lower mold 41 in an overhanging manner, and the base 43a.
servo motor 43b attached to a, drive side pulley 43c attached to its output shaft, and screw shaft 43 rotatably supported on base 43a via bearings 43d and 43d.
e, the driven pulley 43f attached to the lower end of the screw shaft 43e, the driven pulley 43f, and the drive pulley 43.
It is provided with a belt 43g which is laid between c and c. The upper end of the screw shaft 43e is meshed with a nut 43h attached to the lower end of the elevating base 42. The X-axis direction slide device 45 is configured similarly to the third and fourth embodiments. The slide driving device 46 includes a support bracket 46a that is attached to the upper surface of the elevating base 42 in a rising shape,
Servo motor 46b attached to the upper part of this support bracket 46a, and drive side pulley 4 attached to its output shaft
6c and bearings 46d, 46d on the support bracket 46a
Screw shaft 46e rotatably supported via the screw shaft 4 and
The driven pulley 46f attached to one end of 6e, and the belt 46g that spans between the driven pulley 46f and the driving pulley 46c are provided. The other end of the screw shaft 46e is meshed with a nut 46h attached to the base 45a of the X-axis direction slide device 45. Bending blade 44
Is attached to the left side surface of the base 45a. The hemming processing device 40 of the fifth embodiment configured as described above
According to the above, by operating the slide drive device 46 while lowering the elevating base 42 by the elevating drive device 43, the bending blade 44 is moved obliquely downward along an arc-shaped or linear-shaped locus. It is possible to bend from the flange standing state to the folded state without buckling the bent portion We of W. Therefore, as in the first to fourth embodiments, the conventional pre-bending can be omitted and the hemming process can be completed by only one pressing operation of the bending blade 44, whereby the conventional pre-bending metal can be completed. The type can be omitted. The X-axis direction slide devices 34, 4 in the fourth and fifth embodiments described above
In the fifth or fifth embodiment, the elevating / lowering drive device 43 is exemplified by a configuration using a slide mechanism including a slide rail and a slide body that moves along the slide rail. However, instead of this, a link mechanism is used to bend the bending blades 33, 33. The configuration may be such that 44 is moved in the X-axis direction or in the vertical direction.

[Brief description of drawings]

FIG. 1 is a view showing a first embodiment of the present invention and is an overall side view of a roller rolling type hemming device.

FIG. 2 is a view seen from the direction of arrow H in FIG.
It is the figure which looked at the bending roller in the state where the bending part of the work was bent in plane.

3 is a view seen from the direction of arrow Y in FIG.
It is the figure which looked at the bending roller from the side in the state where the bending part of the work was bent.

FIG. 4 is a view showing a second embodiment, and is a plan view of a state where a bending portion of a work is bent using a taper-shaped bending roller.

5 is a view seen from the direction of the arrow Y in FIG.
It is the figure which looked at the situation where the bending part of the work was bent using the taper-shaped bending roller from the side.

FIG. 6 is a plan view illustrating the principle of lateral pressure generation when a cylindrical bending roller is used.

FIG. 7 is a plan view illustrating the principle of lateral pressure generation when a tapered bending roller is used.

FIG. 8 is a view showing a third embodiment of the present invention and is a side view of a press-type hemming device.

FIG. 9 is a side view showing how the bending blade 14 approaches the bending portion We in the hemming device of the third embodiment.

FIG. 10 shows a hemming device according to a third embodiment,
It is a side view which shows the state of the bending part We bend | folded by the movement of the bending blade 14 by this.

FIG. 11 is a view showing the shape of the tip corner portion of the bending blade, which is a side view near the lower end portion of the bending blade 16 having the chamfered portion 16a.

FIG. 12 is a view showing the shape of the tip corner portion of the bending blade, and is a side view near the lower end portion of the bending blade 17 provided with an arcuate convex portion 17a.

FIG. 13 is a view showing the shape of the tip corner portion of the bending blade, and is a side view near the lower end portion of the bending blade 18 provided with a stepped recess 18a.

FIG. 14 is a view showing the shape of the tip corner portion of the bending blade, which is a side view of the vicinity of the lower end portion of the bending blade 19 having an arc-shaped recess 19a.

FIG. 15 is a side view showing a state where the bending portion We is bent by the bending blade 18 shown in FIG. The upper diagram shows a state in which the bending blade 18 is in contact with the bent portion We in a state where the tip of the bent portion We has entered the recess 18a. In the middle figure, the bent portion We is about 45.
∘ is bent, and the tip end is a concave portion 18a of the bending blade 18.
It shows the state that it has come off. Bending blade 18
Shows a state in which the bent portion We descends along the vertical direction and the bent portion We is bent in a substantially folded state.

FIG. 16 is a view showing the fourth embodiment of the present invention, in which 1
It is a side view of a hemming processing apparatus of an axis NC control system.

FIG. 17 is a side view showing an upper mold lowering position detection device of another form in the hemming processing device of the fourth embodiment.

FIG. 18 is a view showing a fifth embodiment of the present invention, in which 2
It is a side view which shows the hemming processing apparatus of an axis NC control system.

FIG. 19 is a side view showing the periphery of a bent portion of a work piece that has been subjected to flange stand-up processing.

FIG. 20 is a side view showing a state in which the bent portion of the workpiece subjected to the flange-standing process is buckled by rolling the bending roller without pre-bending.

FIG. 21 is a side view showing a state in which a bent portion of a workpiece that has been flanged is pre-bent.

[Explanation of symbols]

W ... Work, We ... Bending part S ... lateral pressure 1. Hemming processing device (first embodiment) 2 ... Robot hand R ... Bending roller (cylindrical shape) RT ... Bending roller (taper shape) R1 ... Rolling direction of bending roller (moving direction) R2 ... A normal line orthogonal to the rolling direction R1 R3 ... Bending roller rotation axis 10 ... Press-type hemming device (third embodiment) 11 ... Upper mold, 12 ... Lower mold 13 ... X-axis direction slide device 14 ... Bending blade, 14a ... Tip corner 15a ... cam surface 30 ... Hemming device (fourth embodiment) 32 ... Upper die lowering position detection device 33 ... Bending blade 34 ... X-axis direction slide device 35 ... 1-axis drive device 37 ... Upper die lowering position detection device 40 ... Hemming apparatus (fifth embodiment) 43 ... Lifting drive device 44 ... Bending blade 45 ... X-axis direction slide device 46 ... Slide drive device

Claims (9)

[Claims] 1. A hemming method, characterized in that lateral pressure in a bending direction is positively applied to a bent portion of a flanged workpiece to bend the bent portion in a folded state in one bending step. . 2. A roller rolling-type hemming method which is performed by rolling a bending roller onto a bending portion of a work piece that has been flanged, wherein a working surface of the bending roller is perpendicular to a rolling direction. While maintaining a state in which the front end of the bending is delayed, the bending roller is moved in the rolling direction to apply a lateral pressure in the bending direction to the bending portion.
A hemming method, comprising bending the bent portion to a folded state in a single bending step. 3. A hemming device for use in the hemming method according to claim 2, wherein the robot hand is multi-axis controlled, a bending roller rotatably attached to the robot hand, and the bending roller. The operation of the robot hand is controlled so as to roll the rotation axis along the bent portion in a posture in which the rotation axis is tilted in a direction in which the bending tip side is delayed with respect to a normal line orthogonal to the rolling direction in plan view. A hemming device equipped with a control device for controlling. 4. A hemming device for use in the hemming method according to claim 2, wherein the robot hand is multi-axis controlled, a taper-shaped bending roller rotatably mounted on the robot hand, and the bending. With the small diameter side of the roller positioned on the tip side of the bending portion, the bending roller is rolled along the bending portion in a posture in which the rolling surface is parallel to the bending portion at the time of completion of the hemming process. A hemming device having a control device for controlling the operation of the robot hand. 5. A press-type hemming method for pressing a bending blade against a bending portion of a work piece that has been subjected to a flange process to bend the bending portion in a folded state, wherein the bending blade By pressing while moving in the combined direction of the surface direction and the direction orthogonal thereto, a lateral pressure in the bending direction is positively applied to the bending portion, and the bending portion is folded back by one pressing step of the bending blade. A hemming method characterized by bending into a state. 6. The hemming method according to claim 5, wherein the bending portion is bent halfway while moving the bending blade in a combined direction of the mold clamping direction and a direction orthogonal to this, and then, A hemming method, wherein a bending blade is lowered integrally with an upper die to bend the bent portion in a folded state. 7. A hemming apparatus for use in the hemming method according to claim 5, wherein a lower die on which a work is placed, an upper die that moves up and down with respect to the lower die, and the upper die. A hemming processing device including a bending blade provided movably in a direction orthogonal to the mold clamping direction and a bending blade moving mechanism for moving the bending blade in a direction orthogonal to the mold clamping direction. 8. A hemming device used in the hemming method according to claim 5, wherein the bending blade is moved in the X-axis direction along the surface direction of the bent portion.
An axial movement mechanism and a Y-axis movement mechanism for moving in a Y-axis direction orthogonal to the X-axis direction are provided, and the bending blade is pressed against the bending portion while moving in a combined direction of the X-axis direction and the Y-axis direction. A hemming processing device configured. 9. The hemming apparatus according to claim 8, wherein the bending blade is moved by the X-axis moving mechanism and / or the Y-axis moving mechanism by numerical control.