JP2005014069A - Roller type bending apparatus and bending method - Google Patents

Roller type bending apparatus and bending method Download PDF

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Publication number
JP2005014069A
JP2005014069A JP2003184671A JP2003184671A JP2005014069A JP 2005014069 A JP2005014069 A JP 2005014069A JP 2003184671 A JP2003184671 A JP 2003184671A JP 2003184671 A JP2003184671 A JP 2003184671A JP 2005014069 A JP2005014069 A JP 2005014069A
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Japan
Prior art keywords
bending
roller
workpiece
bent
peripheral edge
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Pending
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JP2003184671A
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Japanese (ja)
Inventor
Masumi Sawa
真澄 澤
Original Assignee
Torai Engineering Kk
トライエンジニアリング株式会社
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Priority to JP2003184671A priority Critical patent/JP2005014069A/en
Publication of JP2005014069A publication Critical patent/JP2005014069A/en
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Abstract

A pair of first and second bending rollers 1 and 2 accurately follow the shape of a bent portion 16 of a workpiece 4 even when the shape of the bent portion 16 of the workpiece 4 is a three-dimensional curved shape. Provided is a roller rolling hemming apparatus that can be used.
A pair of first and second bending rollers 1 and 2 is connected to a workpiece 4 in a state where a bending portion 16 of the workpiece 4 is sandwiched between a pair of first and second bending rollers 1 and 2. The three first to third robot hands 11 to 13 are controlled three-dimensionally so as to roll along the bent portion 16. Thereby, the freedom degree of operation | movement of a pair of 1st, 2nd bending rollers 1 and 2 increases remarkably compared with the conventional bending apparatus. Thereby, even if the shape of the bent portion 16 of the workpiece 4 is a three-dimensional curved shape, the pair of first and second bending rollers 1 and 2 accurately follow the shape of the bent portion 16 of the workpiece 4. Can be made.
[Selection] Figure 1

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a roller-type bending apparatus for bending a peripheral edge of a workpiece such as an automobile door panel or an automobile hood panel into a folded shape, and a method of processing the same.
[0002]
[Prior art]
Conventionally, as shown in FIGS. 16 and 17, as a roller-type bending apparatus that gives a predetermined bending shape to a bending portion provided on a peripheral edge of a work such as an automobile door panel or an automobile hood panel, A bending roller 103 is rotatably mounted on a roller support portion 102 provided at the tip of the robot hand 101, and the peripheral edge shape of the workpiece 105 placed on the lower mold 104 by the operation of the robot hand 101. A roller-type hemming processing apparatus has been proposed in which the bending roller 103 is rolled along the bending portion 103 to bend the bent portion 106 of the workpiece 105 into a folded shape (see, for example, Patent Document 1).
[0003]
According to this roller type hemming apparatus, the bending roller 103 can be rolled along an arbitrary three-dimensional trajectory by controlling the operation of the robot hand 101 based on a predetermined operation program. Smooth high-quality hemming along a peripheral edge shape (for example, a curved shape) can be performed. In addition, by appropriately changing the operation program of the robot hand 101, it is possible to easily cope with the change of the peripheral edge shape of the workpiece 105, and the versatility is dramatically higher than that of the conventional bending process using a press mold. It is a bending apparatus that can improve the.
[0004]
However, in the roller type hemming apparatus described above, the lower die 104 must be manufactured in accordance with the shape of the peripheral edge of the work 105 every time the type and shape of the work 105 to be hemmed are changed, which significantly reduces the cost. There was a problem that it was raised. Further, since a storage space for storing various types of lower molds 104 is also required, there is a problem that the efficiency of production management is poor.
Therefore, in such a roller-type hemming processing apparatus, a roller-type hemming processing apparatus that eliminates the need for the lower mold has been proposed for the purpose of eliminating the above-described problems (for example, see Patent Document 2).
[0005]
This roller-type hemming processing apparatus has a receiving roller that holds a bent part of a work on a base instead of a lower mold and receives a pressing force (hemming force), and a pressing roller that applies a pressing force to the bending part of the work And a three-dimensional mobile robot that moves a workpiece holding device that holds a bent portion of the workpiece between a pressing roller and a receiving roller along a previously taught locus. ing. According to this roller-type hemming apparatus, the bent portion of the workpiece continuously passes between the pressing roller and the receiving roller, and the bent portion of the workpiece is hemmed with a predetermined pressing force.
[0006]
[Patent Document 1]
Japanese Patent No. 2693282 (page 1-10, FIG. 1 to FIG. 13)
[Patent Document 2]
JP-A-7-132327 (page 1-11, FIGS. 1-16)
[0007]
[Problems to be solved by the invention]
However, in the roller type hemming processing apparatus described in Patent Document 2, the pressing roller and the receiving roller are not attached to each of a plurality of robot hands capable of controlling the operation independently of each other. In other words, since the positional relationship between the pressing roller and the receiving roller is always kept in a specific positional relationship, there is no degree of freedom between the pressing roller and the receiving roller, and the shape of the bent part of the workpiece is a three-dimensional curved shape. Or if it is a three-dimensional flange shape, the pressing roller and the receiving roller cannot accurately follow the shape of the bent part of the workpiece, and therefore, continuous smooth hemming cannot be performed. The problem has arisen. In addition, every time the type of workpiece to be hemmed or the flange shape is changed, a roller mechanism adapted to the shape of the peripheral edge of the workpiece must be prepared, resulting in a problem of significantly increasing costs. In addition, since it is necessary to store various types of roller mechanisms, the efficiency of production management is reduced, and there is a bad problem that a significant reduction in production efficiency is caused by an increase in the number of replacements.
[0008]
OBJECT OF THE INVENTION
The object of the present invention is to provide a pair of first and second bending rollers accurately even when the shape of the peripheral edge of the workpiece is a three-dimensional curved shape or a three-dimensional flange shape. An object of the present invention is to provide a roller-type bending apparatus capable of following an edge shape and a processing method thereof. It is another object of the present invention to provide a roller type bending apparatus and a processing method thereof that can eliminate the need to replace a lower mold and various types of roller mechanisms, reduce costs, and improve production management efficiency.
[0009]
[Means for Solving the Problems]
According to the first aspect of the present invention, the pair of first and second bending rollers is in a state where the peripheral edge of the workpiece is sandwiched between the pair of first and second bending rollers by the control device. The shape of the peripheral edge of the workpiece is a three-dimensional curved shape or cubic by controlling the operations of the two first and second robot hands numerically so as to roll along the peripheral edge shape of the workpiece. Even if it is an original flange shape, a pair of 1st, 2nd bending roller can be made to exactly follow the peripheral edge shape of a workpiece | work. Further, it is not necessary to replace the lower mold and various types of roller mechanisms, the cost can be reduced, and the efficiency in production management can be improved.
[0010]
According to the second aspect of the present invention, the third robot hand is provided with the work holding portion for holding the peripheral edge of the work at the set position between the pair of first and second bending rollers. Even when the first bending roller and the second bending roller are moved three-dimensionally with respect to the workpiece, the peripheral edge of the workpiece is moved to a set position between the pair of first and second bending rollers. As a result, the peripheral edge of the workpiece always passes continuously through the set position between the pair of first and second bending rollers, and the peripheral edge of the workpiece is continuously bent into a predetermined bent shape. Can be bent.
[0011]
According to the invention described in claim 3, at least two or more robot hands among the plurality of robot hands may be installed on one robot base or robot body. That is, the plurality of robot hands do not have to operate completely independently. For example, the first and second robot hands may be installed on a common robot base. That is, a plurality of robot hands may be set in one robot base or robot body. In this case, a second robot hand of the second bending roller that is controlled by numerical information (NC control) with two or more axes may be provided at the tip of the first robot hand of the first bending roller. A plurality of robot hands may be added to one robot body.
[0012]
According to invention of Claim 4, by providing the workpiece | work rotating apparatus which rotates a workpiece | work relatively with respect to a pair of 1st, 2nd bending roller, for example, in a part of all perimeter or all sides Peripheral edges of workpieces such as circular or polygonal plate members that are bent, or circular or polygonal plate members that are bent all around or all sides It can be bent into a predetermined bent shape.
[0013]
According to the fifth aspect of the present invention, the first bending roller or the second bending roller is set to the first bending roller or the second bending roller, and the set positional relationship with respect to the second bending roller or the first bending roller is set. By providing the roller positioning means for positioning so as to be, the first bending roller or the second bending is provided at the peripheral edge of the workpiece that continuously passes the set position between the pair of first and second bending rollers. A predetermined stable pressing force is always applied from the roller.
[0014]
According to the sixth aspect of the present invention, the peripheral edge of the workpiece is positioned on the first bending roller or the second bending roller so as to have a set positional relationship with respect to the first bending roller or the second bending roller. By providing the workpiece positioning means for doing so, the peripheral edge of the workpiece can be passed through a set position between the pair of first and second bending rollers.
[0015]
According to the seventh aspect of the present invention, a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge of the workpiece is provided on the peripheral edge of the workpiece. Then, a jig is attached to the inner side surface of the bent portion of the workpiece so as to correspond to the direction vector of the bending reaction force generated by at least one of the pair of first and second bending rollers. By arranging, the bending position of the bending part of the workpiece can be continuously bent accurately at a set inclination angle.
[0016]
According to invention of Claim 8, the bending part by which the flange standing process was carried out in the direction substantially orthogonal to the surface direction of the peripheral edge of a workpiece | work beforehand was provided in the peripheral edge of the workpiece | work. And when this invention is applied to the roller type hemming processing apparatus which bends the bending part of a workpiece | work into a folding shape, in the state which made the rotation direction of a 1st bending roller and the moving direction of a 1st robot hand differ. Bending is performed by, for example, pre-bending to 30 ° to 60 ° by controlling the operation of the first robot hand with a command based on numerical information so that the first bending roller rolls along the peripheral edge shape of the workpiece. Except for the process, the hemming of the peripheral edge of the workpiece can be completed in one bending process, so that the processing time can be greatly shortened.
[0017]
According to the ninth aspect of the present invention, the pair of first and second attached to each of at least two first and second robot hands out of a plurality of robot hands capable of controlling operation independently of each other. By rolling the pair of first and second bending rollers along the shape of the peripheral edge of the workpiece while sandwiching the peripheral edge of the workpiece at a set position between the bending rollers, the peripheral edge of the workpiece is Even if the first bending roller and the second bending roller are moved three-dimensionally with respect to the workpiece by forcing deformation and bending the peripheral edge of the workpiece into a predetermined bending shape, The peripheral edge of the work is moved to a set position between the pair of first and second bending rollers. As a result, the peripheral edge of the workpiece always passes continuously through the set position between the pair of first and second bending rollers, and the peripheral edge of the workpiece is continuously bent into a predetermined bent shape. Can be bent.
[0018]
According to invention of Claim 10, the bending part by which the flange standing process was carried out in the direction substantially orthogonal to the surface direction of the peripheral edge of a workpiece | work beforehand was provided in the peripheral edge of the workpiece | work. First, in the first bending step, the pair of first and second bending rollers are inserted into the peripheral edge of the workpiece in a state where the peripheral edge of the workpiece is sandwiched between the setting positions between the pair of first and second bending rollers. By rolling along the edge shape, the bent portion of the workpiece is pre-bent so that the bent portion of the workpiece is in a bent state with an inclination angle of about 45 °, for example. Next, in the second bending step, the pair of first and second bending rollers are inserted into the peripheral edge of the workpiece in a state where the peripheral edge of the workpiece is sandwiched at a set position between the pair of first and second bending rollers. By rolling along the shape, the bent portion of the workpiece can be hemmed by bending the bent portion of the workpiece into a folded state.
[0019]
According to the eleventh aspect of the present invention, even if the first bending step of pre-bending the bent portion of the workpiece is performed in one step so that the bent portion of the workpiece is in a predetermined bent state. In addition, the first bending step may be performed in two or more multi-steps. According to the invention described in claim 12, the second bending step of finishing bending the bent portion of the work in a folded state may be performed in one step, and the first bending step is performed in 2 steps. You may implement in the above multi process.
[0020]
According to the thirteenth aspect of the present invention, a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge of the workpiece is provided on the peripheral edge of the workpiece. And, only the inclination angle set in the direction in which the processing surface of at least one bending roller of the pair of first and second bending rollers is delayed with respect to the normal line orthogonal to the moving direction of the bending roller is delayed. By holding the tilted posture and moving the bending roller in the moving direction, the bending part of the workpiece is subjected to a side pressure in the bending direction, and the bending part of the workpiece is bent into the folded state. The same effect as that of the invention described in item 7 or 8 can be obtained.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
[Configuration of First Embodiment]
1 to 4 show a first embodiment of the present invention, and FIG. 1 is a diagram showing the overall configuration of a roller rolling hemming apparatus.
[0022]
The roller rolling type hemming processing apparatus according to this embodiment includes at least two of three first to third robot hands (plural robot hands) 11 to 13 that can operate three-dimensionally independently of each other. Attached to the first and second roller support portions 14 and 15 of each of the first and second robot hands 11 and 12, the peripheral edge of the workpiece 4 can be continuously bent into a predetermined folded shape. A pair of first and second bending rollers 1 and 2 and a work holding part 17 of at least one third robot hand 13 out of the three first to third robot hands 11 to 13 are attached, A workpiece holding jig (handling jig) 3 capable of holding the peripheral edge of the workpiece 4 at a set position between the first and second bending rollers 1 and 2 and a pair of first and second bending rollers In the setting position between rollers 1 and 2, Three first to third robot hands so as to roll the pair of first and second bending rollers 1 and 2 along the shape of the peripheral edge of the work 4 while sandwiching the peripheral edge of the workpiece 4 And a control device (not shown) for controlling the operations of 11 to 13 by a command based on numerical information.
[0023]
Here, the workpiece 4 is, for example, a three-dimensional linear shape, a three-dimensional curved shape, or a three-dimensional flange-shaped outer panel 21 arranged on the lower side in the figure, and arranged on the upper side in the figure with respect to the outer panel 21. It is the door panel for motor vehicles (or the food panel for motor vehicles) comprised from the inner panel 22 made. The outer panel 21 is manufactured by press-molding a steel plate having a thickness of about 0.6 to 0.8 mm, for example. Further, the inner panel 22 is manufactured by deep drawing a steel plate of about 0.7 to 0.9 mm, for example. When the workpiece 4 is a sashless door, the three sides excluding the waist line are hemmed into a predetermined folded state. Further, when the workpiece 4 is an automobile hood panel, the four sides are hemmed into a predetermined folded state.
[0024]
Here, as shown in FIG. 2A, the peripheral edge of the work 4 is previously bent in a direction (for example, 90 °) substantially orthogonal to the surface direction of the peripheral edge of the outer panel 21, For example, a bent portion (flange portion) 16 that is flanged with a certain width is provided. Further, an R-shaped corner portion 18 is provided between the bent portion 16 and the plate-like portion (circumferential edge) 19 of the outer panel 21. Further, at a predetermined position of the inner panel 22 of the workpiece 4, as shown in FIG. 1, a plurality of engagement holes 23 that are engaged with the positioning pins 42 of the workpiece holding jig 3 in a state of being positioned, and A plurality of insertion holes 24 through which the vacuum pads 45 of the workpiece holding jig 3 are inserted are formed.
[0025]
Then, before the work 4 bends the bent portion 16 of the outer panel 21 continuously into a predetermined folded shape, the bent portion 16 of the outer panel 21 is bent as shown in FIG. 1 and FIG. The inner panel 22 is set on the setting jig 5 with the peripheral edge 25 of the inner panel 22 being in line. Note that a vinyl chloride sealer (sealing agent) is applied to the steel sheet mating surface (the upper end surface in the drawing) of the peripheral edge 25 of the inner panel 22 by welding or baking before the hemming of the bent portion 16 of the outer panel 21. Has been. The setting jig 5 is provided on a loading table (table) 10 installed on a base 6 common to the first to third robot bases 32 and 33 of the first to third robot hands 11 to 13 for setting. In the upper part of the jig 5 shown in the figure, an annular installation part 26 for installing the peripheral edge of the workpiece 4 (bending part 16, corner part 18 and plate-like part 19) is provided. The inner peripheral shape of the installation portion 26 corresponds to the peripheral edge shape of the workpiece 4 (outer surface shape of the bent portion 16, the corner portion 18, and the plate-like portion 19).
[0026]
The first robot hand 11 is a first robot arm that is installed on a first robot base (not shown) and is capable of multi-axis control by teaching (teaching) a predetermined three-dimensional trajectory in advance. Thus, based on a program stored by teaching, a first three-dimensional moving means for moving the first bending roller 1 relative to the second bending roller 2 three-dimensionally is provided. Further, a first roller support portion 14 having a first roller bearing portion for rotatably supporting the rotating shaft 34 of the first bending roller 1 is attached to the tip portion of the first robot hand 11. In the first roller support portion 14, a spring for applying a pressing force to the first bending roller 1 to press the bending portion 16 of the work 4 so as to have a predetermined bending shape, a hydraulic piston, a hydraulic cylinder, or the like The pressing force applying means is incorporated.
[0027]
The second robot hand 12 is a second robot arm that is installed on the second robot base 32 and is taught (teaching) in advance with a predetermined three-dimensional trajectory and capable of multi-axis control. Based on the stored program, it has a second three-dimensional moving means for moving the second bending roller 2 relative to the first bending roller 1 in a three-dimensional manner. Further, a second roller support portion 15 having a second roller bearing portion for rotatably supporting the rotation shaft 35 of the second bending roller 2 is attached to the tip portion of the second robot hand 12, Even if the second roller support portion 15 receives a pressing force from the first bending roller 1 via the bending portion 16 of the workpiece 4, the processed surface of the first bending roller 1 (first roller surface, first rolling surface). ) With respect to the processing surface (second roller surface, second rolling surface) of the second bending roller 2 so that the set inclination angle can be maintained.
[0028]
The third robot hand 13 is installed on the third robot base 33 and is a third robot arm (handling robot arm) capable of controlling a plurality of axes by teaching (teaching) a predetermined three-dimensional locus in advance. Then, on the basis of the program stored by teaching, a third three-dimensional moving means for moving the work holding part 17, that is, the work 4 in a three-dimensional manner relative to the first bending roller 1 and the second bending roller 2, is provided. Have. The workpiece holding portion 17 is mounted on the tip of the third robot hand 13, and the workpiece holding portion 17 is, for example, a workpiece holding jig 3 corresponding to the type of workpiece 4 and the peripheral edge shape. It has a jig support portion 36 that can be detachably mounted.
[0029]
In addition, the work holding unit 17 of the third robot hand 13 has a work rotating device (not shown) such as a servo motor capable of rotating the work 4 relative to the first bending roller 1 and the second bending roller 2. ) Is built-in. Instead of the workpiece rotating device, the workpiece 4 may be rotated relative to the first bending roller 1 and the second bending roller 2 by rotating the tip shaft of the third robot hand 13.
[0030]
Here, the workpiece holding jig 3 includes a substrate portion 41 mounted on the workpiece holding portion 17, a plurality of positioning pins 42 protruding downward from the lower end surface of the substrate portion 41 in the drawing, and the substrate portion 41 on the drawing. A vacuum generating device 43 such as a vacuum pump mounted on the end face, and the peripheral edge of the workpiece 4 to the peripheral edge 25 of the inner panel 22 by a negative pressure (pressure lower than atmospheric pressure) generated by the vacuum generating device 43. The vacuum box 44 is made to adsorb. Thus, the outer panel 21 and the inner panel 22 of the work 4 are held in a posture in which the peripheral edge 25 of the inner panel 22 is placed inside the bent portion 16 of the work 4.
[0031]
The plurality of positioning pins 42 are inserted into the plurality of engagement holes 23 formed at predetermined positions of the inner panel 22 of the workpiece 4, and the outer panel 21 and the inner panel 22 of the workpiece 4 are set at predetermined assembly positions. It is for positioning. A vacuum pad 45 for sucking the inner surface of the work 4 is provided below the vacuum box 44 in the figure. The vacuum pad 45 sucks the inner surface of the work 4 by using the negative pressure generated by the vacuum generator 43 while being inserted through the plurality of insertion holes 24 formed at predetermined positions of the inner panel 22 of the work 4. can do. An annular holding portion 46 for holding the inner panel 22 of the workpiece 4 at a predetermined position is provided on the outer peripheral edge of the lower end surface of the substrate portion 41 in the figure. The inner peripheral shape of the holding portion 46 corresponds to the shape of the inner panel 22 of the work 4.
[0032]
Next, the structure of the pair of first and second bending rollers 1 and 2 according to this embodiment will be described with reference to FIGS. The pair of first and second bending rollers 1 and 2 are made of, for example, a cylindrical roller made of a metal material such as carbon steel containing 0.03 to 1.7% of carbon or a resin material such as polyurethane (PUR). A cylindrical roller is used, the first bending roller 1 functions as an upper roller (pressing roller) positioned on the upper side of the bending portion 16 of the workpiece 4, and the second bending roller 2 is a plate of the workpiece 4. It functions as a lower roller (receiving roller) located on the lower side of the figure 19 from the figure.
[0033]
The first bending roller 1 is held by the processing surface of the second bending roller 2 and the work holding jig 3 by the three-dimensional operation of the first roller support portion 14 of the first robot hand 11. The rotation direction, the rolling direction, the horizontal direction in the figure orthogonal to the rolling direction (for example, the rotation center axis direction and the axial direction of the first bending roller 1), and the rolling direction perpendicular to the peripheral edge of the workpiece 4 A three-dimensional operation such as the vertical direction shown in the figure is possible. Further, the second bending roller 2 is held by the work surface of the first bending roller 1 and the workpiece holding jig 3 when the second roller support portion 15 of the second robot hand 12 operates three-dimensionally. The rotation direction, the rolling direction, the horizontal direction shown in the figure orthogonal to the rolling direction (for example, the rotation center axis direction of the second bending roller 2, the axial direction), and the rolling direction perpendicular to the peripheral edge of the workpiece 4 A three-dimensional operation such as the vertical direction shown in the figure is possible.
[0034]
First, in the first bending step, the first robot hand 11 moves the first roller support portion 14 in a three-dimensional manner, so that the right side (outside surface) of the bent portion 16 of the workpiece 4 has a predetermined stability. The processing surface of the first bending roller 1 is set so as to always contact the outer surface of the bent portion 16 so as to apply the pressed force, and the second robot hand 12 moves the second roller support portion 15 three-dimensionally. , The processing surface of the second bending roller 2 is always outside the plate-like portion 19 so as to receive the pressing force of the first bending roller 1 from the lower end surface (outer side surface) of the plate-like portion 19 of the workpiece 4. Set to touch the side.
[0035]
At this time, the inclination angle of the processing surface of the first bending roller 1 with respect to the processing surface of the second bending roller 2, that is, the rotation of the first bending roller 1 with respect to the rotation center axis of the second bending roller 2 (the center axis of the rotation shaft 35). The inclination angle of the central axis (the central axis of the rotating shaft 34) is set to be substantially the same as the bending angle (for example, about 45 °) of the bending portion 16 of the workpiece 4 in the first bending step. Then, while maintaining this state, the first and second robot hands 11 and 12 move the first and second roller support portions 14 and 15 three-dimensionally, so that the pair of first and second bending rollers 1 2 is rolled along the shape of the bent portion 16 of the workpiece 4.
[0036]
However, the height of the bent portion (flange portion) 16 of the work 4 is not constant, and the length is normally changed at the terminal and the character portion or shorter than the general portion. The bending roller 2 rolls while changing the preliminary bending angle according to the height shape of the bent portion (flange portion) 16 and the like. In general, when the height of the bent portion (flange portion) 16 is low (for example, about 3 to 6 mm), the bent portion (flange portion) 16 of the general portion (for example, about 8 to 12 mm) is bent. Although a large bending angle is required, the present apparatus can change the angles of the first and second bending rollers 1 and 2 even during the bending process. A favorable bending process is performed at an inclination angle set to (for example, 30 ° to 45 °) (preliminary bending step).
[0037]
However, even when the bent portion (flange portion) 16 of the workpiece 4 is more than 90 °, good bending is required. In such a case, two or more preliminary bending steps are required. It is performed in multiple steps. That is, by setting the preliminary bending step a plurality of times (for example, about 80 ° for the first time and about 40 ° for the second time), the bent portion (flange portion) 16 of the workpiece 4 is opened more than 90 °. Even in such a case, a satisfactory bending process can be performed.
[0038]
In the next second bending step, the first robot hand 11 moves the first roller support portion 14 in a three-dimensional manner to apply a predetermined stable pressing force to the outer surface of the bent portion 16 of the workpiece 4. The processing surface of the first bending roller 1 is always set to contact the outer surface of the bent portion 16 so that the second robot hand 12 moves the second roller support portion 15 three-dimensionally. Therefore, the processing surface of the second bending roller 2 always contacts the outer surface of the plate-like portion 19 so as to receive the pressing force of the first bending roller 1 from the lower end surface (outer surface) of the plate-like portion 19 of the workpiece 4. Is set as follows.
[0039]
At this time, the processing surfaces of the pair of first and second bending rollers 1 and 2 add the thicknesses of the bent portion 16 of the workpiece 4, the plate-like portion 19, and the peripheral edge 25 of the inner panel 22. A predetermined gap slightly wider than the value (for example, the thickness of the outer panel 21 is T1 (for example, about 0.6 to 0.8 mm), and the thickness of the inner panel 22 is T2 (for example, about 0.7 to 0.9 mm). 2T1 + T2) in such a case as to be opposed to each other. Then, while maintaining this state, the first and second robot hands 11 and 12 move the first and second roller support portions 14 and 15 three-dimensionally, so that the pair of first and second bending rollers 1 2 is rolled along the shape of the bent portion 16 of the workpiece 4. Thereby, the bending process (hemming process) of the folded shape is performed on the entire circumference of the bent portion 16 of the workpiece 4 (finish bending process).
[0040]
[Processing Method of First Embodiment]
Next, a roller rolling hemming method according to this embodiment will be briefly described with reference to FIGS.
[0041]
Before the bending step, as shown in FIGS. 1 and 2A, the setting jig is set so that the peripheral edge 25 of the inner panel 22 is placed inside the bent portion 16 of the workpiece 4. 5, the outer panel 21 and the inner panel 22 of the workpiece 4 are set in a positioned state.
[0042]
Then, the third robot hand 13 having the workpiece holding jig 3 mounted on the workpiece holding portion 17 at the distal end operates according to a predetermined trajectory taught in advance, whereby the substrate portion 41 of the workpiece holding jig 3 is moved. The holding portion 46 holds a predetermined portion of the inner panel 22 of the workpiece 4, and a plurality of positioning pins 42 that protrude downward from the substrate portion 41 in the figure are formed at predetermined positions of the inner panel 22 of the workpiece 4. The plurality of engagement holes 23 are inserted. Thereby, the outer panel 21 and the inner panel 22 of the workpiece 4 are positioned at a predetermined assembly position. At this time, a vacuum pad 45 extending downward from the vacuum box 44 of the workpiece holding jig 3 passes through a plurality of insertion holes 24 formed at predetermined positions on the inner panel 22 of the workpiece 4. Then, by operating the vacuum generation device 43, the inner surface of the work 4 is attracted to the vacuum pad 45.
[0043]
Then, the outer panel 21 and the inner panel 22 of the work 4 are lifted to the set positions from the installation portion 26 of the setting jig 5 by the three-dimensional operation of the third robot hand 13. At this time, as described above, the bent portion 16 of the outer panel 21 is bent in a direction substantially orthogonal to the surface direction of the plate-like portion 19 of the outer panel 21 and flanged.
[0044]
Next, the first robot hand 11 with the first bending roller 1 mounted on the first roller support portion 14 at the tip, and the second robot hand 12 with the second bending roller 2 mounted on the second roller support 15 at the tip. And the third robot hand 13 operates according to a predetermined trajectory taught in advance, so that the bending portion 16 of the workpiece 4 is set at a position between the pair of first and second bending rollers 1 and 2. The corner portion 18 and the plate-like portion 19 are held. At this time, as described above, the inclination angle of the processed surface of the first bending roller 1 with respect to the processed surface of the second bending roller 2, that is, the first rotation axis of the second bending roller 2 (the central axis of the rotation shaft 35). The inclination angle of the rotation center axis of the bending roller 1 (center axis of the rotation shaft 34) is set to be substantially the same as the bending angle (for example, about 45 °) of the bending portion 16 of the workpiece 4 in the first bending step. .
[0045]
Then, by the three-dimensional operation of the first to third robot hands 11 to 13, the peripheral edge of the workpiece 4 (bending portion 16, bending portion 16) is set at a position between the pair of first and second bending rollers 1 and 2. In a state where the corner portion 18 and the plate-like portion 19) are sandwiched (see FIG. 2B), the workpiece 4 is rolled along the peripheral edge shape (the shape of the bent portion 16) of the workpiece 4. That is, in a state where the peripheral edge of the workpiece 4 (bending portion 16, corner portion 18 and plate-like portion 19) is sandwiched at a set position between the pair of first and second bending rollers 1 and 2, FIG. b) and as shown in FIG. 3, by rolling the pair of first and second bending rollers 1 and 2 in the rolling direction (moving direction), for example, 90 mm with respect to the surface direction of the plate-like portion 19. A pressing force is applied from the processed surface of the first bending roller 1 to the outer surface of the bent portion 16 that has been flanged at 0 °. Further, the second bending roller 2 receives the pressing force of the first bending roller 1 through the plate-like portion 19 of the work 4. Thereby, the bending process of the setting inclination angle (for example, 90 degrees-> 45 degrees) is performed to the bending part 16 whole periphery of the workpiece | work 4 (preliminary bending process).
[0046]
Next, as described above, the processing surface of the first bending roller 1 and the processing surface of the second bending roller 2 form a predetermined gap by the three-dimensional operation of the first to third robot hands 11 to 13. A pair of first and second bending rollers 1, so that the rotation center axis of the first bending roller 1 and the rotation center axis of the second bending roller 2 are positioned in a substantially parallel direction so as to be opposed to each other. 2 is set.
[0047]
Then, by the three-dimensional operation of the first to third robot hands 11 to 13, the peripheral edge (folding) of the workpiece 4 is set at a set position between the processing surfaces of the pair of first and second bending rollers 1 and 2. In a state where the bent portion 16, the corner portion 18, and the plate-like portion 19) are sandwiched, the rolling is performed along the peripheral edge shape of the workpiece 4 (the shape of the bent portion 16). That is, in a state where the peripheral edge of the workpiece 4 (the bent portion 16, the corner portion 18 and the plate-like portion 19) is sandwiched between the pair of first and second bending rollers 1 and 2, as shown in FIG. As shown in a) and (b), by rolling the pair of first and second bending rollers 1 and 2 in the rolling direction (moving direction), for example, with respect to the surface direction of the plate-like portion 19. A pressing force is applied from the processed surface of the first bending roller 1 to the outer surface of the bent portion 16 that is bent to about 45 °. Further, the second bending roller 2 receives the pressing force of the first bending roller 1 through the plate-like portion 19 of the work 4. Thereby, the bending process (hemming process) of the folded shape is performed on the entire circumference of the bent portion 16 of the workpiece 4 (finish bending process).
[0048]
[Effect of the first embodiment]
As described above, in the roller rolling hemming processing apparatus according to the present embodiment, the peripheral edge of the workpiece 4 (bending portion 16, corner portion) is set at a position between the pair of first and second bending rollers 1 and 2. 18 and the plate-like part 19), the first to third robots are arranged so that the pair of first and second bending rollers 1 and 2 roll along the bent part 16 of the workpiece 4. The operations of the hands 11 to 13 are controlled three-dimensionally. Thereby, the freedom degree of operation | movement of a pair of 1st, 2nd bending rollers 1 and 2 is compared with the conventional bending apparatus which supported the rotating shaft of two receiving rollers and a press roller rotatably by a pair of roller mechanism. Has increased dramatically.
[0049]
Thereby, even if the peripheral edge shape of the workpiece 4 (shape of the bent portion 16) is a three-dimensional curved shape (see FIG. 3) or a three-dimensional flange shape, 1. It can be three-dimensionally moved relative to the second bending rollers 1 and 2, and the pair of first and second bending rollers 1 and 2 can be formed in the shape of the peripheral edge of the workpiece 4 (of the bending portion 16 Shape) can be accurately followed. Accordingly, even if the peripheral edge shape of the workpiece 4 (shape of the bent portion 16) is a three-dimensional curved shape (see FIG. 3) or a three-dimensional flange shape, the bent portion of the workpiece 4 is bent. For example, a continuous and smooth hemming process having a constant width can be performed on the entire circumference of 16 or a portion of the bent portion 16 of the workpiece 4 that needs a hemming process.
[0050]
Further, since the first to third robot hands 11 to 13 can be relatively moved three-dimensionally, a program corresponding to the type of work 4 to be hemmed and the peripheral edge shape (shape of the bent portion 16) is provided. As described above, the entire bending portion 16 of the workpiece 4 or a portion that requires hemming processing on the bending portion 16 of the workpiece 4, for example, a constant width and continuous smooth hemming as described above. Processing can be performed. Therefore, it is not necessary to prepare a roller mechanism or a lower mold that matches the shape of the peripheral edge of the work 4 every time the type or peripheral edge shape of the work 4 to be hemmed is changed, and the cost can be reduced. Further, since there is no need for a storage space for storing various types of roller mechanisms and lower molds, the production management is highly efficient.
[0051]
In this embodiment, after all the bending parts 16 from the start end to the end of one side of the workpiece 4 are pre-bent (or finished bending), the workpiece 4 is rotated by the workpiece rotating device, and the other side of the workpiece 4 is rotated. After all the bent portions 16 from the start end to the end are pre-bent (or finished bending), the workpiece 4 is rotated by the workpiece rotating device, and all the bent portions 16 from the start end to the end of the remaining side of the workpiece 4 are rotated. Is pre-bending (or finishing bending), but only by a predetermined rolling direction (moving direction of the pair of first and second bending rollers 1 and 2) from the start of one side of the work 4 is manually performed. Pre-bending (or finishing bending) may be performed, and then preliminary bending (or finishing bending) may be performed by the bending method of the present invention.
[0052]
Here, when a metal cylindrical roller is used as the pair of first and second bending rollers 1 and 2, the outer surface of the bent portion 16 and the plate-like portion 19 of the workpiece 4 may be damaged. However, there is an effect that the bent portion 16 of the work 4 can be easily bent into a predetermined bent shape. In addition, when resin-made cylindrical rollers are used as one or both of the first and second bending rollers 1 and 2, it is difficult to set the hardness, but effective pressure receiving during bending The area can be widened, and there is an effect that the outer side surfaces of the bent portion 16 and the plate-like portion 19 of the work 4 are hardly damaged.
[0053]
Further, in the present embodiment, a cylindrical roller is employed as the first bending roller 1, and the second bending roller 2 is larger than the outer diameter of the first bending roller 1 and is in the direction of the rotation center axis of the first bending roller 1. Cylindrical rollers with large dimensions (axial dimensions) are used. Cylindrical rollers with outer diameter dimensions and axial dimensions that are substantially the same or different in diameter as the pair of first and second bending rollers 1 and 2. May be adopted. One bending roller of the first bending roller 1 or the second bending roller 2 is a metal cylindrical roller, and the other bending roller of the first bending roller 1 or the second bending roller 2 is a resin cylindrical roller. It is also good. When the inner panel 22 is positioned with respect to the outer panel 21 of the work 4, the outer panel 21 and the inner panel 22 are fixed to each other by welding or bonding in a predetermined place before the bending portion 16 of the work 4 is bent. You can keep it.
[0054]
[Second Embodiment]
FIG. 5 shows a second embodiment of the present invention, and FIG. 5 is a diagram showing the overall configuration of a roller rolling hemming apparatus.
[0055]
In the present embodiment, the setting jig 5 is provided on the loading platform (table) 10 installed on the base 6 common to the first to third robot bases 32 and 33 of the first to third robot hands 11 to 13. ing. The inner peripheral shape of the installation portion 26 provided in the upper portion of the setting jig 5 in the drawing corresponds to the outer surface shape (R shape) of the bottom wall portion 39 of the outer panel 21. A plurality of clamp mechanisms 8 are attached to the setting jig 5 so as to be swingably supported by a column member 47 in the vertical direction of the figure of the setting jig 5.
[0056]
When these clamp mechanisms 8 are in the workpiece locking position, the outer surface of the bent portion 16 of the workpiece 4 is locked to hold the bent portion 16 of the workpiece 4 in a predetermined bending position. . In addition, the clamp mechanism 8 which latches the outer surface of one side which performs the bending process among at least three sides of the bending portion 16 of the workpiece 4 is rotated to the workpiece opening position side with the fulcrum as a center. Interference with the pair of first and second bending rollers 1 and 2 is prevented during bending by the first and second bending rollers 1 and 2.
[0057]
Further, the workpiece 4 is set on the setting portion 26 of the setting jig 5 by being pressed downward by the workpiece holding portion 17 of the third robot hand 13. In addition, a work rotating device 9 such as a servo motor capable of rotating the setting jig 5 relative to the pair of first and second bending rollers 1 and 2 is provided in the loading platform 10. The work rotating device 9 may be shared by the tip shaft of the third robot hand 13 or an arm device such as a servo motor. Further, the vacuum box 44 of the present embodiment is configured to attract the outer panel 21 of the work 4 to the installation portion 26 of the loading platform 10 by the negative pressure generated by the vacuum generator 43. When the inner panel 22 is positioned with respect to the outer panel 21 of the work 4, the outer panel 21 and the inner panel 22 are fixed to each other by welding or bonding in a predetermined place before the bending portion 16 of the work 4 is bent. You can keep it.
[0058]
[Third Embodiment]
FIG. 6 shows a third embodiment of the present invention, and FIGS. 6A and 6B are views showing a state in which a pre-bending process is performed on a bent part subjected to a flange standing process.
[0059]
In the present embodiment, the bent portion of the workpiece 4 is subjected to the first bending step in which the bending portion 16 of the workpiece 4 subjected to the flange standing process is subjected to a preliminary bending process at a predetermined bending angle (for example, about 45 °). 16 can be bent continuously and accurately into a predetermined bending state, that is, when the first bending process is performed, the outer panel 21 of the workpiece 4 is in contact with the processed surface of the first bending roller 1. In order to make it difficult to escape, the workpiece 4 is bent so as to correspond to the direction vector of the bending reaction force generated by the processed surface of the first bending roller 1 as shown in FIG. A slide shoe (jig) 51 is disposed on the inner surface of the portion 16.
[0060]
Further, in place of the slide shoe 51, as shown in FIG. 6B, a jig 54 that rotatably supports the rotation shaft 53 of the inner roller (small diameter roller) 52 may be used. Since the followability to the shape of the bent portion 16 of the workpiece 4 is worse than that of the slide shoe 51, it is desirable to dispose the slide shoe 51 as shown in FIG. In this embodiment, the inner roller (small diameter roller) 52 having the rotation shaft 53 in a direction parallel to the rotation center axis of the first bending roller 1 is used, but the rotation center axis of the first bending roller 1 is used. An inner roller having a rotation axis in a direction orthogonal to the direction may be used.
[0061]
[Fourth Embodiment]
FIG. 7 shows a fourth embodiment of the present invention, and FIG. 7 is a diagram showing a state in which a finish bending process is performed on a pre-bent bent part.
[0062]
In the present embodiment, when performing the second bending process in which the bending portion 16 of the workpiece 4 that has been subjected to the preliminary bending processing is subjected to finish bending processing (hemming processing) in the folded state, the outer surface of the plate-shaped portion 19 of the workpiece 4 ( Auxiliary rollers 55 and 56 for holding the lower end surface in the figure are provided. The rotation shafts of these auxiliary rollers 55 and 56 are rotatably supported on both sides (front and rear in the rolling direction) of the second bending roller 2 by the second roller support portion 15 at the tip of the second robot hand 12. . The first bending process is performed in which the auxiliary rollers 55 and 56 are used to perform a pre-bending process at a predetermined bending angle (for example, about 45 °) on the bent portion 16 of the workpiece 4 that has been flanged. May be.
[0063]
[Fifth Embodiment]
FIG. 8 shows a fifth embodiment of the present invention, and FIGS. 8A and 8B are views showing a state in which a pre-bending process is performed on a bent part that has been flanged.
[0064]
In the present embodiment, as shown in FIG. 8A, the first robot hand 11 of the first bending roller 1 on the base side (right end side in the axial direction in the axial direction) of the rotation center axis of the first bending roller 1. On the first roller support part 14 side, a circular bowl-shaped part (corresponding to the roller positioning means of the present invention) 61 having an outer diameter larger than the processing surface of the first bending roller 1 is provided. Further, the second bending roller 2 is provided on the base side of the rotation center axis of the second bending roller 2 (the right end side in the axial direction in the drawing), that is, on the second roller support portion 15 side of the second robot hand 12 of the second bending roller 2. A substantially frustoconical taper portion (corresponding to the roller positioning means of the present invention) 62 having an outer diameter smaller than the machining surface and an inclination angle (taper angle) corresponding to a predetermined bending angle (for example, about 45 °). Is provided.
[0065]
In this case, the first and second robots are used when performing the first bending process in which the bending portion 16 of the workpiece 4 subjected to the flange standing process is subjected to a preliminary bending process of a predetermined bending angle (for example, about 45 °). By always bringing the flanged portion 61 of the first bending roller 1 and the taper portion 62 of the second bending roller 2 into sliding contact with each other by the three-dimensional movement of the hands 11 and 12, the second bending roller 2 with respect to the processed surface is obtained. The inclination angle of the processed surface of the first bending roller 1, that is, the inclination angle of the rotation center axis (center axis of the rotation shaft 34) of the first bending roller 1 with respect to the rotation center axis of the second bending roller 2 (center axis of the rotation shaft 35). However, it is accurately set to substantially the same angle as the bending angle (for example, about 45 °) of the bent portion 16 in the first bending step. While maintaining this posture, the bending portion 16 of the work 4 is sandwiched between the pair of first and second bending rollers 1 and 2 and the shape of the bending portion 16 of the work 4 is rolled. Press.
[0066]
Further, as shown in FIG. 8B, a substantially arc-shaped portion corresponding to the shape of the bent portion 16 of the workpiece 4 is provided on the second roller support portion 15 side of the second robot hand 12 of the second bending roller 2. A circular bowl-shaped portion 63 having 69 (R portion, corresponding to the workpiece positioning means of the present invention) is provided, and an inclination angle corresponding to a predetermined bending angle (for example, about 45 °) is provided on the bowl-shaped portion 63. The substantially truncated cone-shaped taper portion 64 is provided.
[0067]
In this case, when performing the first bending process in which the bending portion 16 of the workpiece 4 is subjected to a pre-bending process with a predetermined bending angle (for example, about 45 °), the corner portion 18 and the plate-like portion 19 of the workpiece 4 are processed. The position of the outer surface can be positioned by the substantially arcuate part 69 of the bowl-like part 63 so as to have a set positional relationship with respect to the pair of first and second bending rollers 1 and 2. That is, since the first bending roller 1 can be positioned so as to have a set positional relationship with respect to the second bending roller 2, it continuously passes through a predetermined position between the pair of first and second bending rollers 1 and 2. A predetermined stable pressing force can always be applied to the bending portion 16 of the workpiece 4 from the processed surface of the first bending roller 1.
[0068]
Therefore, the shape of the bent portion 16 of the workpiece 4 is obtained while the bent portion 16 of the workpiece 4 is sandwiched between the pair of first and second bending rollers 1 and 2 while maintaining the above posture. By rolling along, the bending part 16 of the workpiece 4 can be bent continuously and accurately at a bending angle (for example, about 45 °).
[0069]
[Sixth Embodiment]
FIG. 9 shows a sixth embodiment of the present invention, and FIGS. 9A and 9B are views showing a state in which a pre-bending process is performed on a bent part subjected to a flange standing process.
[0070]
In the present embodiment, as shown in FIG. 9A, a hook-shaped portion of the first bending roller 1 (in the present invention) is provided on the second roller support portion 15 side of the second robot hand 12 of the second bending roller 2. And an inclination angle formed between the processed surface of the first bending roller 1 and the processed surface of the second bending roller 2 is set as a preliminary bending process (first bending step). ) Is provided with a small-diameter portion (corresponding to the roller positioning means of the present invention) 67 for keeping the bending angle of the bent portion 16 (for example, about 45 °). That is, the second bending roller 2 has a smaller outer diameter at the small diameter portion 67 on the right side of the step portion 66 than on the large diameter portion (processed surface) 65 on the left side of the step portion 66 in the drawing.
[0071]
As shown in FIG. 9B, a groove portion (corresponding to the roller positioning means of the present invention) 68 that engages with the flange portion 61 of the first bending roller 1 is formed on the outer peripheral surface of the small-diameter portion 67. Even if the first bending roller 1 is provided, the first bending roller 1 can be positioned so as to have a set positional relationship with respect to the second bending roller 2, so that a predetermined position between the pair of first and second bending rollers 1 and 2 can be continued. A predetermined stable pressing force can always be applied to the bent portion 16 of the workpiece 4 passing through the processed surface of the first bending roller 1.
[0072]
Therefore, the shape of the bent portion 16 of the workpiece 4 is obtained while the bent portion 16 of the workpiece 4 is sandwiched between the pair of first and second bending rollers 1 and 2 while maintaining the above posture. By rolling along, the bending part 16 of the workpiece 4 can be bent continuously and accurately at a bending angle (for example, about 45 °).
[0073]
[Seventh Embodiment]
FIG. 10 shows a seventh embodiment of the present invention, and FIGS. 10 (a) and 10 (b) are views showing a state in which a pre-bending process is performed on a bent part that has been flanged.
[0074]
In the present embodiment, as the first bending roller 1, an angle formed between the processing surface of the first bending roller 1 and the processing surface of the second bending roller 2 is a predetermined bending angle (for example, about 45 °). A tapered roller having a substantially conical tapered portion 71 and a cylindrical portion (columnar portion) 72 for maintaining an inclination angle corresponding to the above is adopted, and a cylindrical roller is adopted as the second bending roller 2. The tapered portion 71 constitutes the processed surface of the first bending roller 1. Moreover, you may utilize the outer peripheral surface of the cylindrical part (columnar part) 72 of the 1st bending roller 1 as a process surface at the time of performing a final bending process (finish bending process).
[0075]
Here, the first bending roller 1 shown in FIG. 10A has a cylindrical portion 72 with a predetermined gap between the first bending roller 1 and the processing surface of the second bending roller 2. A one-roller support portion 14 is rotatably supported. Further, the first bending roller 1 shown in FIG. 10B has a cylindrical portion 72 (corresponding to the roller positioning means of the present invention) 72 of the first bending roller 1 on the processing surface of the second bending roller 2. It is rotatably supported by the first roller support portion 14 of the first robot hand 11 so as to abut.
[0076]
Also in this case, since the first bending roller 1 can be positioned so as to have a set positional relationship with respect to the second bending roller 2 in the same manner as in the sixth embodiment, the pair of first and second bending rollers 1 A predetermined stable pressing force can always be applied from the processing surface of the first bending roller 1 to the bent portion 16 of the work 4 that passes through a predetermined position between the two. Therefore, an effect similar to that of the sixth embodiment can be achieved.
[0077]
[Eighth Embodiment]
FIG. 11 shows an eighth embodiment of the present invention, and FIG. 11 is a diagram showing a state in which a pre-bending process is performed on a bent portion that has been flanged.
[0078]
In the present embodiment, a tapered roller having a substantially conical tapered portion 71 is employed as the first bending roller 1, and a cylindrical roller is employed as the second bending roller 2. A circular bowl-shaped portion (corresponding to the roller positioning means of the present invention) 73 is provided on the first roller support portion 14 side of the first robot hand 11 of the first bending roller 1, and the second bending roller 2 On the second roller support portion 15 side of the second robot hand 12, a groove portion (corresponding to the roller positioning means of the present invention) 74 with which the hook-like portion 73 is engaged is provided.
[0079]
Also in this case, since the first bending roller 1 can be positioned so as to have a set positional relationship with respect to the second bending roller 2 in the same manner as in the sixth embodiment, the pair of first and second bending rollers 1 A predetermined stable pressing force can always be applied from the processing surface of the first bending roller 1 to the bent portion 16 of the work 4 that passes through a predetermined position between the two. Therefore, an effect similar to that of the sixth embodiment can be achieved.
[0080]
[Ninth Embodiment]
FIG. 12 shows a ninth embodiment of the present invention. FIGS. 12 (a) and 12 (b) show a bending process in which a bent portion subjected to flange standing is finished and bent into a folded state in one bending process. FIG.
[0081]
In the present embodiment, a cylindrical cylindrical roller whose radius does not change is adopted as the first bending roller 1, and a cylindrical cylindrical roller whose radius does not change is adopted as the second bending roller 2. Then, in a state where the rotation direction of the first bending roller 1 is different from the movement direction of the first robot hand 11, the rotation center axis of the first bending roller 1 is set to the rolling direction (movement direction) of the first bending roller 1. In a state where the bent portion 16 of the work 4 is sandwiched at a set position between the second bending roller 2 while maintaining the inclined posture with respect to the second bending roller 2, rolling is performed along the bent portion 16 of the work 4. It is configured to be.
[0082]
Specifically, the first bending roller 1 moves the rotation center axis (X) of the first bending roller 1 by the operation of the first robot hand 11 to the rolling direction (movement direction: R1) of the first bending roller 1. Tilt angle (θ1) set in a direction in which the front end side of the bent portion 16 of the workpiece 4 is delayed with respect to a normal line orthogonal to the normal line (normal line R2 located on the same plane as the rotation center axis of the second bending roller 2). While being held at a tilted position, the workpiece 4 is rolled along the bent portion 16 of the workpiece 4 in a state where the bent portion 16 of the workpiece 4 is sandwiched at a set position between the second bending roller 2. It is configured as follows.
[0083]
Accordingly, when the first bending roller 1 is rolled in a posture inclined with respect to the rolling direction, the bending portion 16 of the workpiece 4 is in a direction orthogonal to the surface direction in addition to the pressing force in the surface direction ( Since the lateral (side) pressing force (side pressure) acts, even if the pair of first and second bending rollers 1 and 2 are rolled in the conventional finishing bending posture, the bent portion 16 of the workpiece 4 is buckled. It is possible to fold the bent portion 16 of the workpiece 4 to the folded state without causing the fold. Accordingly, the bent portion 16 that has been bent in advance in a direction substantially orthogonal to the surface direction of the peripheral edge of the outer panel 21 without performing a preliminary bending process and without causing buckling is formed. Since the hemming process can be completed by folding to the folded state, the hemming process time can be greatly shortened.
[0084]
Here, when the flange standing angle with respect to the surface direction of the workpiece 4 of the bent portion 16 to be flanged in advance at the peripheral edge of the workpiece 4 is θ2, the flange standing angle (θ2) is about 60 to 80 °. In this case, the inclination angle (θ1) is set to about 10 to 20 °, and when the flange standing angle (θ2) is about 80 to 100 °, the inclination angle (θ1) is set. By setting the angle to about 20 to 30 °, the above-described action can be effectively obtained. Further, the inclination angle (θ1) can be changed depending on other factors such as the diameter of the first bending roller 1 or the shape of the bent portion 16.
[0085]
[Tenth embodiment]
FIG. 13 shows a tenth embodiment of the present invention. FIGS. 13 (a) and 13 (b) show a bending process in which a bent portion subjected to flange standing is finished and bent into a folded state in one bending process. FIG.
[0086]
In this embodiment, in order to roll the first bending roller 1 along the bending portion 16 of the workpiece 4 in a state where the rotation direction of the first bending roller 1 is different from the moving direction of the first robot hand 11. In addition, a substantially frustoconical taper roller is employed as the first bending roller 1. That is, the first bending roller 1 of the present embodiment has a normal line (R2) orthogonal to the rolling direction (movement direction: R1) of the first bending roller 1 and a rotation center axis line (X) of the first bending roller 1. On the other hand, a substantially frustoconical taper roller is employed in which the processing surface of the first bending roller 1 is inclined by a set inclination angle (θ1) in a direction in which the front end side of the bending portion 16 of the workpiece 4 is delayed.
[0087]
Therefore, the workpiece 4 is placed at a set position between the pair of first and second bending rollers 1 and 2 while maintaining the posture in which the small-diameter side of the first bending roller 1 is positioned on the distal end side of the bending portion 16 of the workpiece 4. Is pressed in a state where the bent portion 16 is sandwiched, the pressing force of the first bending roller 1 causes the bent portion 16 to be pressed in the bending direction against the tip of the bent portion 16 of the work 4. Since it acts as a component (side pressure), the bent portion 16 of the workpiece 4 can be bent to the folded state without buckling the bent portion 16 of the workpiece 4. Accordingly, the bent portion 16 that has been bent in advance in a direction substantially orthogonal to the surface direction of the peripheral edge of the outer panel 21 without performing a preliminary bending process and without causing buckling is formed. Since the hemming process can be completed by folding to the folded state, the hemming process time can be greatly shortened.
[0088]
[Eleventh embodiment]
14 and 15 show an eleventh embodiment of the present invention. FIGS. 14 (a) and 14 (b) show a partial bending process, and FIG. 15 shows the shape of a workpiece. .
[0089]
In the case of a workpiece 7 having a peripheral edge of a complicated shape that cannot be followed by the operation of the first to third robot hands 11 to 13 (for example, a corner portion 90 of an automobile hood panel), at least one of the workpieces 7 The peripheral edge (the bent portion 16 of the outer panel 21) at two or more locations may be formed into a predetermined bent shape using a bending die (punch) 91 and a lower die 92. That is, before or after bending the bending portion 16 of the outer panel 21 of the work 7 having a three-dimensional curved shape, a portion where bending cannot be performed by the pair of first and second bending rollers 1 and 2 is bent. Partial bending may be performed using a mold (punch) 91 and a lower mold 92.
[0090]
The bending die 91 is attached to the first roller support portion 14 of the first robot hand 11 in exchange for the first bending roller 1. Then, the bending die 91 is folded by a pressurizing cylinder 95 such as an air cylinder or a hydraulic cylinder around a rotating shaft 94 pivotally supported at the tip of an arm portion 93 attached to the first roller support portion 14. It is rotatably provided between the bending start position and the bending end position. Further, the lower die 92 is fixed at an optimal position of the arm portion 93, that is, a position where the machining surface of the lower die 92 is arranged to face the machining surface of the bending die 91 during hemming. As a result, the entire circumference of the peripheral edge of the workpieces 4 and 7 can be obtained with the present invention sandwiching the peripheral edge of the workpieces 4 and 7 at a set position between the pair of first and second bending rollers 1 and 2. The present invention is not only a bending method for bending a workpiece into a predetermined bent shape but also a bending method for bending a part of the entire circumference of the peripheral edge of the workpieces 4 and 7 into a predetermined bent shape. Can be used.
[0091]
[Other Embodiments]
In the present embodiment, the spring for applying a pressing force to the first bending roller 1 to press the peripheral edge of the workpiece 4 into a predetermined bent shape to the first roller support portion 14 of the first robot hand 11. Alternatively, a pressing force applying means such as a hydraulic piston or a hydraulic cylinder is provided, but the peripheral edge of the workpiece 4 is pressed against the second roller support portion 15 of the second robot hand 12 so as to have a predetermined bent shape. A spring for applying a pressing force to the second bending roller 2 or a pressing force applying means such as a hydraulic piston or a hydraulic cylinder may be provided.
[0092]
In the present embodiment, for example, a first robot hand 11 that is a polar-coordinate articulated robot is installed on a first robot base, and a second robot hand 12 that is a polar-coordinate articulated robot is different from the first robot base. Although it is installed on the second robot base 32, the first and second robot hands 11 and 12 may be installed on a common robot base. That is, a plurality of robot hands may be set in one robot base or robot body. In this case, a second robot hand of the second bending roller 2 that is controlled by numerical information (NC control) with two or more axes may be provided at the tip of the first robot hand of the first bending roller 1. A plurality of robot hands may be added to one robot body.
[0093]
Here, in general, hemming is possible in that the flange angle of the bent portion 16 of the workpieces 4 and 7 is approximately 110 ° or less. Up to a flange angle of about 130 °, mechanical folding and bending, that is, hemming is possible, but the surface quality and dimensional accuracy required by automobiles and the like cannot be satisfied, and the purpose of hemming is achieved. Not.
In this case, using the apparatus shown in FIGS. 6A and 6B, bending is performed up to approximately 90 ° capable of hemming (which is satisfactory in terms of quality and dimensions). In this case, the outer diameter of the inner roller (small-diameter roller) 52 in FIG. 6B may be increased according to the shape of the bent portion 16 of the workpieces 4 and 7.
In this case, when bending is almost impossible due to the presence of the inner panel 22, the bending may be performed with the inner panel 22 removed, that is, only the outer panel 21.
Further, the shape of the inner roller (small diameter roller) 52 in FIG. 6B may be a shape in which substantially frustoconical portions are bonded together.
[0094]
In this embodiment, only one pair of the first and second bending rollers 1 and 2 is used to perform the pre-bending process and the finishing bending process. However, the pair of first and second bending rollers 1 and 2 is used. Two or more sets of may be used for preliminary bending and finishing bending. That is, the two or more first bending rollers 1 and the two or more second bending rollers 2 are moved along the rolling direction (a three-dimensional linear path, a three-dimensional curved path, or a three-dimensionally repeating unevenness). In addition to the bending method of rolling in a state where they are arranged, two or more first bending rollers 1 and two or more second bending rollers 2 are moved in the width direction of the bent portion 16 of the workpiece 4 (a direction orthogonal to the rolling direction). You may use the bending method of rolling in the state where it was located in a line.
[0095]
In the present embodiment, the workpieces 4 and 7 are pre-bending or finish-bending on the peripheral edge of an automobile door panel, an automobile hood panel, or an automobile trunk lid as an opening / closing functional part constituting a part of an automobile body outer plate. The workpiece is processed to give a predetermined bent shape to the peripheral edges of the workpieces 4 and 7, but the workpiece is pre-bent to the peripheral edges of the railway vehicle body, ship skin or aircraft skin. Alternatively, finish bending may be performed to give a predetermined bent shape to the peripheral edge of the workpiece. In addition, the present invention may be used as a flange standing method for the peripheral edge of the outer panel 21 of the workpieces 4 and 7.
[Brief description of the drawings]
FIG. 1 is a schematic view showing the overall configuration of a roller rolling hemming apparatus (first embodiment).
FIG. 2A is a cross-sectional view showing a bent portion that has been flanged, and FIG. 2B is a schematic diagram that shows a state in which preliminary bending is performed on the bent portion that has been flanged ( First embodiment).
FIG. 3 is a schematic diagram showing a pre-bending process for a three-dimensional curved bent portion (first embodiment).
FIGS. 4A and 4B are schematic views showing a state in which a finish bending process is performed on a pre-bent bent part (first embodiment). FIGS.
FIG. 5 is a schematic view showing an overall configuration of a roller rolling hemming apparatus (second embodiment).
FIGS. 6A and 6B are schematic views showing a state in which a pre-bending process is performed on a bent portion that has been flanged (third embodiment).
FIG. 7 is a schematic view showing a state in which a finish bending process is performed on a pre-bent bent part (fourth embodiment).
FIGS. 8A and 8B are schematic views showing a state in which a pre-bending process is performed on a bent portion that has been flanged (fifth embodiment).
FIGS. 9A and 9B are schematic views showing a state in which a pre-bending process is performed on a bent portion that has been flanged (sixth embodiment). FIGS.
FIGS. 10A and 10B are schematic views showing a state in which a pre-bending process is performed on a bent portion that has been flanged (seventh embodiment).
FIG. 11 is a schematic view showing a state in which a pre-bending process is performed on a bent part that has been flanged (eighth embodiment).
FIGS. 12A and 12B are schematic views showing a state in which a bent portion subjected to flange standing processing is finished and bent into a folded state in one bending process (the ninth embodiment); ).
FIGS. 13A and 13B are schematic views showing a state in which a bent portion subjected to flange standing processing is finished and bent into a folded state in one bending process (tenth embodiment). ).
14A is a schematic view showing a partial bending step, and FIG. 14B is a cross-sectional view taken along the line AA in FIG. 14A (an eleventh embodiment).
FIG. 15 is a plan view showing the shape of a workpiece (an eleventh embodiment).
FIG. 16 is a cross-sectional view showing the overall configuration of a roller type hemming apparatus (conventional technology).
FIG. 17A is a schematic view showing a state in which a bent portion of the outer panel of the workpiece is bent into a predetermined bent shape, and FIG. 17B is a diagram showing the bent portion of the outer panel of the workpiece in a folded state. It is the schematic diagram which showed a mode that it was bending (conventional technique).
[Explanation of symbols]
1 First bending roller
2 Second bending roller
3 Workpiece holding jig
4 Workpieces (car door panels, car hood panels)
5 Setting jig
7 Work (Trunk lid for automobile)
8 Clamp mechanism
9 Work rotating device
11 First robot hand
12 Second robot hand
13 Third Robot Hand
14 1st roller support part
15 Second roller support
16 Bending part (peripheral edge)
17 Work holding part
18 Corner (peripheral edge)
19 Plate-shaped part (peripheral edge)
21 Outer panel
22 Inner panel
25 Inner panel peripheral edge
36 Jig support
51 Slide shoe (jig)
54 Jig
61 Hook-shaped part of first bending roller (roller positioning means)
62 Tapered portion of second bending roller (roller positioning means)
67 Small diameter part of second bending roller (roller positioning means)
68 Groove part of second bending roller (roller positioning means)
69 Substantially arc-shaped part of second bending roller (work positioning means)
72 Cylindrical part of first bending roller (roller positioning means)
73 A bowl-shaped portion of the first bending roller (roller positioning means)
74 Groove part of second bending roller (roller positioning means)

Claims (13)

  1. (A) a plurality of robot hands operating independently of each other;
    (B) A pair of first, first and second robot hands that are attached to each of at least two of the first and second robot hands and continuously bend the peripheral edge of the workpiece into a predetermined bent shape. A second bending roller;
    (C) In a state where the peripheral edge of the workpiece is sandwiched at a set position between the pair of first and second bending rollers, the pair of first and second bending rollers are shaped as the peripheral edge of the workpiece. And a control device for controlling the operation of at least two first and second robot hands of the plurality of robot hands by a command based on numerical information.
  2. In the roller type bending apparatus according to claim 1,
    The plurality of robot hands include a third robot hand having a work holding unit for holding a peripheral edge of the work at a set position between the pair of first and second bending rollers. Roller type bending machine.
  3. In the roller type bending apparatus according to claim 1 or 2,
    A roller-type bending apparatus, wherein at least two robot hands of the plurality of robot hands are installed on one robot base or a robot body.
  4. In the roller type bending apparatus according to claim 1,
    A roller-type bending apparatus comprising a work rotating device for rotating the work relative to the pair of first and second bending rollers.
  5. In the roller type bending apparatus according to any one of claims 1 to 4,
    The first bending roller or the second bending roller positions the first bending roller or the second bending roller so as to have a set positional relationship with respect to the second bending roller or the first bending roller. A roller-type bending apparatus characterized by having a roller positioning means.
  6. In the roller type bending apparatus according to any one of claims 1 to 5,
    The first bending roller or the second bending roller is a workpiece positioning means for positioning the peripheral edge of the workpiece so as to have a set positional relationship with respect to the first bending roller or the second bending roller. A roller-type bending apparatus characterized by comprising:
  7. In the roller type bending apparatus according to any one of claims 1 to 6,
    The peripheral edge of the workpiece is provided with a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge,
    A jig is provided on the inner side surface of the bent portion of the workpiece so as to correspond to the direction vector of the bending reaction force generated by at least one of the pair of first and second bending rollers. A roller type bending apparatus characterized by being arranged.
  8. In the roller type bending apparatus according to any one of claims 1 to 7,
    The peripheral edge of the workpiece is provided with a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge,
    Applied to a roller-type hemming device that bends the folded portion of the workpiece into a folded shape,
    The control device rolls the first bending roller along the peripheral edge shape of the workpiece in a state in which the rotation direction of the first bending roller is different from the moving direction of the first robot hand. In addition, the operation of the first robot hand is controlled by a command based on numerical information.
  9. Around the workpiece at a set position between a pair of first and second bending rollers mounted on each of at least two first and second robot hands out of a plurality of robot hands that can be controlled independently of each other. By rolling the pair of first and second bending rollers along the shape of the peripheral edge of the workpiece while sandwiching the edge, the peripheral edge of the workpiece is forced to be deformed. A roller-type bending method characterized by bending a peripheral end edge into a predetermined bent shape.
  10. In the roller type bending method according to claim 9,
    The peripheral edge of the workpiece is provided with a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge,
    First, in a state where the peripheral edge of the workpiece is sandwiched at a set position between the pair of first and second bending rollers, the pair of first and second bending rollers are aligned with the peripheral edge shape of the workpiece. The first bending step of pre-bending the bent portion of the workpiece,
    Next, the pair of first and second bending rollers are formed into the shape of the peripheral edge of the workpiece in a state where the peripheral edge of the workpiece is sandwiched at a set position between the pair of first and second bending rollers. And a second bending step of bending the bent portion of the workpiece into a folded state by rolling along the roller.
  11. In the roller type bending method according to claim 10,
    The roller bending method, wherein the first bending step is performed in one step or two or more multi-steps.
  12. In the roller type bending method according to claim 10 or 11,
    The roller bending method, wherein the second bending step is performed in one step or two or more multi-steps.
  13. In the roller type bending method according to claim 9,
    The peripheral edge of the workpiece is provided with a bent portion that is flanged in advance in a direction substantially orthogonal to the surface direction of the peripheral edge,
    Inclination angle set in a direction in which the processing surface of at least one bending roller of the pair of first and second bending rollers is delayed in the direction in which the front end side of the bent portion is delayed with respect to the normal line orthogonal to the moving direction of the bending roller A bending step of bending the bent portion in a folded state by applying a lateral pressure in the bending direction to the bent portion by moving the bending roller in the moving direction while maintaining a tilted posture. A roller-type bending method characterized by that.
JP2003184671A 2003-06-27 2003-06-27 Roller type bending apparatus and bending method Pending JP2005014069A (en)

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WO2007101667A1 (en) * 2006-03-07 2007-09-13 Gm Global Technology Operations, Inc. Flanging device and method for the roll flanging of workpieces
JP2007307039A (en) * 2006-05-17 2007-11-29 Marutaka Kk Sewing apparatus and sewing method
JP2007307037A (en) * 2006-05-17 2007-11-29 Marutaka Kk Sewing apparatus and sewing method
JP2008023587A (en) * 2006-07-25 2008-02-07 Honda Motor Co Ltd Hemming method and hemming device
FR2906738A1 (en) * 2006-10-10 2008-04-11 Renault Sas Device for crimping together metal sheet pieces, especially in automobile flap assembly, includes robotic holding arm carrying two replaceable piece holding supports
JP2008188662A (en) * 2007-02-07 2008-08-21 Honda Motor Co Ltd Hemming method and hemming device
EP1980340A1 (en) * 2006-01-25 2008-10-15 MB Sistemas, S.Coop. Roller crimping system
WO2008138503A1 (en) * 2007-05-11 2008-11-20 Edag Gmbh & Co. Kgaa Crimping components in series production having short cycle times
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US8272243B2 (en) 2005-12-05 2012-09-25 Honda Motor Co., Ltd. Hemming working method and working apparatus
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JP2013188770A (en) * 2012-03-13 2013-09-26 Honda Motor Co Ltd Apparatus and method for roller hemming
JP2013248620A (en) * 2012-04-26 2013-12-12 Honda Motor Co Ltd Method and system for manufacturing workpiece having edges connected to each other
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JP2007307039A (en) * 2006-05-17 2007-11-29 Marutaka Kk Sewing apparatus and sewing method
JP2007307037A (en) * 2006-05-17 2007-11-29 Marutaka Kk Sewing apparatus and sewing method
JP2008023587A (en) * 2006-07-25 2008-02-07 Honda Motor Co Ltd Hemming method and hemming device
FR2906738A1 (en) * 2006-10-10 2008-04-11 Renault Sas Device for crimping together metal sheet pieces, especially in automobile flap assembly, includes robotic holding arm carrying two replaceable piece holding supports
JP2008188662A (en) * 2007-02-07 2008-08-21 Honda Motor Co Ltd Hemming method and hemming device
WO2008138503A1 (en) * 2007-05-11 2008-11-20 Edag Gmbh & Co. Kgaa Crimping components in series production having short cycle times
DE102007022102B4 (en) * 2007-05-11 2014-04-10 Fft Edag Produktionssysteme Gmbh & Co. Kg Beading of components in series production with short cycle times
DE102009018619B4 (en) * 2009-04-27 2014-07-17 Fft Edag Produktionssysteme Gmbh & Co. Kg robot support
WO2010137622A1 (en) * 2009-05-26 2010-12-02 本田技研工業株式会社 Panel positioning device and panel integration method
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JP2010274274A (en) * 2009-05-26 2010-12-09 Honda Motor Co Ltd Panel positioning apparatus and panel integration method
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US8819938B2 (en) 2009-05-26 2014-09-02 Honda Motor Co., Ltd. Panel positioning apparatus and panel integration method
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JP5462938B2 (en) * 2010-04-27 2014-04-02 株式会社ヒロテック Processing equipment
WO2011135620A1 (en) * 2010-04-27 2011-11-03 株式会社ヒロテック Processing apparatus
FR2982783A1 (en) * 2011-11-18 2013-05-24 Peugeot Citroen Automobiles Sa Method for assembling boxes for e.g. door opening, of car, involves using movements of robot to perform complementary operations between deposition of sheet cover on matrix and deposition of liner on matrix
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JP2013188770A (en) * 2012-03-13 2013-09-26 Honda Motor Co Ltd Apparatus and method for roller hemming
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JP2016117095A (en) * 2014-11-14 2016-06-30 フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハーFerrobotics Compliant Robot Technology GmbH Robot roller hemming device and method
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CN108015139A (en) * 2016-11-04 2018-05-11 株式会社斯巴鲁 Roller hemming device and roller crimping method
US20180133780A1 (en) * 2016-11-04 2018-05-17 Subaru Corporation Roller hemming apparatus and roller hemming method
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