JP2005074470A - Hemming device and hemming method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a hemming device and a method for hemming capable of preventing the deterioration of workability and the increase of the equipment cost. <P>SOLUTION: The nut 27 of a ball screw mechanism moves back and forth by the drive of a servomotor 35, a swing frame 11 swings and displaces around a swinging support shaft 9 by the rotation of a toggle link mechanism 52 and a third link 45 according to the movement. The swing frame 11 is provided with a slide frame 19 having a spare bending blade 21 and a main bending blade 23 so as to slide in a vertical direction, the bending blades are switched by sliding and moving the slide frame 19 with swing frame 11 swung and displaced such that the respective bending blades 21, 23 are spaced apart from a hem mold 7. At the time of bending, the slide frame 19 is moved relative to the swing frame 11 by the rotational movement of the toggle link mechanism 52 with the swing frame 11 stood and with the connection between the third link 45 and the swing frame 11 by a link portion 47 disengaged. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a hemming apparatus and a hemming method that perform edge bending on an edge of a workpiece.

As a conventional hemming processing apparatus, for example, there is one described in Patent Document 1 below.
JP, 2001-150038, A This is performed by using the same electric drive source in place of a hydraulic cylinder generally used in the past, and performing a pre-bending process and a main bending process by using two toggle link mechanisms. Yes.

  The conventional hemming apparatus described above has the following problems.

  Since the hem blade (preliminary bending blade, main bending blade) provided at the end of the link mechanism performs hem (edge bending) processing by rotating the link mechanism, for example, edges adjacent to each other at an angle of about 90 degrees. When edge-bending each part, the hem blades may interfere with each other during rotation between adjacent hemming apparatuses.

  In order to avoid this interference, it is necessary to shift the operation timing between adjacent units of the hemming apparatus or to provide a dedicated unit for the corner portion. If the operation timing is shifted, the machining time becomes longer and the workability is lowered, and if a unit dedicated to the corner is provided, the equipment cost is increased.

  Accordingly, an object of the present invention is to prevent deterioration in workability and increase in equipment costs.

  In order to achieve the above object, according to the present invention, a slide frame that is integrally provided with a hem blade that bends the edge of a work piece with respect to a swing frame that swings and displaces by a toggle link mechanism connected to a drive source is linearly formed. The oscillating frame is slidably moved by the operation of the toggle link mechanism so that the hem blade comes close to the edge of the workpiece, and the operation of the toggle link mechanism The slide frame is slid linearly with respect to the swing frame, and the edge of the workpiece is edge bent by the hem blade provided on the slide frame.

  According to the present invention, the hem blade swings together with the slide frame provided with the hem blade when the hem blade is brought into contact with the edge of the workpiece to perform the edge bending process. Since it moves linearly in the pressurizing direction with respect to the frame, each adjacent hemming device that bends the edges adjacent to each other at an angle with the corner as a boundary can avoid interference between each unit, and the operation timing can be reduced. There is no need to shift the position, the processing time can be shortened, and a separate unit dedicated to the corner is not required, so that an increase in equipment costs can be prevented. Also, during hemming processing, the hem blade moves linearly closer to the workpiece in the pressurizing direction, so the approach angle to the workpiece is always constant, machining quality is improved, design is easy, and the shape is matched to the workpiece shape. It is not necessary to design each time and standardization is easy.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is an internal structural view of a link structure in a hemming apparatus shown as a perspective view in FIG. 2 according to the first embodiment of the present invention. FIG. 3 is a perspective view showing the entire apparatus in which the hemming apparatus of FIG. 2 is arranged as four units U1, U2, U3, U4.

  As shown in FIG. 2, a pair of base frames 3 are erected on the base plate 1, and a hem-type support plate 5 is provided on a notch step portion 3 d at the upper end of the pair of base frames 3. A hem die 7 for setting a work W (see FIG. 5 described later) is installed.

  A swing support shaft 9 as a rotation support portion is rotatably connected between the pair of base frames 3 described above, and a lower portion of the swing frame 11 is rotatably attached to the swing support shaft 9. The swing frame 11 includes a pair of side plates 13 to which the swing support shaft 9 is attached, and a connecting plate 15 that connects the side plates 13 to each other.

  A pair of guide rails 17 extending in the vertical direction are provided on the hem die 7 side of the connecting plate 15, and a slide frame 19 that slides in the vertical direction along the guide rails 17 is provided. The slide frame 19 includes a pair of slide frame side plates 20 at both ends in the width direction.

  A pre-bending blade 21 for performing a pre-bending process on the edge F (see FIG. 5) of the workpiece W as a hem blade at the end opposite to the swing frame 11 of the slide frame side plate 20 and the same bending process are performed. The main bending blade 23 to be performed is attached so that the preliminary bending blade 21 is on the lower side of the main bending blade 23.

  FIG. 1 shows a state where the preliminary bending process is performed by the preliminary bending blade 21, and FIG. 2 shows a state where the main bending process is performed by the main bending blade 23. When performing the main bending process, the lower side pre-bending blade 21 is inserted into the retracting recess 7 a provided in the hem die 7.

  As shown in FIG. 1, one portion of the substantially triangular first link 25 is connected and fixed to the swing support shaft 9 described above. A nut 27 as a drive connecting portion is rotatably connected to another portion as one end of the first link 25 via a connecting shaft 29, and the nut 27 forms a ball screw mechanism with the nut 27. The screw rod 31 is screwed and connected.

  The screw rod 31 is rotated by a servo motor 35 as a drive source via a speed reducer 33. The speed reducer 33 is rotatable together with the servo motor 35 via a rotation support shaft 38 to a bracket 37 installed on the base plate 1.

  That is, the first link 25 rotates around the swing support shaft 9 through the ball screw mechanism by driving the servo motor 35.

  One end of the second link 41 is rotatably connected to another portion of the first link 25 via a connecting shaft 39. The other end of the second link 41 is connected to the connecting shaft 43, and both ends of the connecting shaft 43 are supported by the lower part of the slide frame side plate 20.

  The toggle link mechanism 52 is configured by the first link 25 and the second link 41 described above.

  In addition, one end of the third link 45 is connected and fixed to the swing support shaft 9 described above, and the other end of the third link 45 is connected to the swing frame 11 via a connecting portion 47. The connecting portion 47 is provided with a connecting air cylinder 49 in the third link 45, a pin 51 that moves forward and backward by driving the connecting air cylinder 49, and two pin insertion holes provided in the side plate 13 into which the pin 51 is inserted. 13a, 13b. In the state shown in FIG. 1, the pin 51 is inserted into one pin insertion hole 13a located on the lower side, thereby connecting the third link 45 and the swing frame 11 to each other.

  Further, a positioning portion 53 for positioning and fixing the swing frame 11 with respect to the base frame 3 is provided between the side plate 13 of the swing frame 11 and the base frame 3. The positioning portion 53 is provided with a positioning air cylinder 55 on the side plate 13, a pin 57 that moves forward and backward by driving the positioning air cylinder 55, and three pin insertion holes 3 a provided in the base frame 3 into which the pin 57 is inserted. 3b, 3c. In the state shown in FIG. 1, the pin 51 is inserted into the pin insertion hole 3a located at the uppermost position, so that the swinging frame 11 is positioned and fixed with respect to the base frame 3 while standing in the vertical direction. Yes.

  When the pins 51 are inserted into the other pin insertion holes 3b and 3c, the swing frame 11 swings and tilts in two stages from the standing state of FIG. A stopper 59 with which the side plate 13 of the moving frame 11 abuts is provided on the base frame 3. In addition, a stopper that is in contact with the side opposite to the stopper 59 of the side plate 13 in the state in which the swing frame 11 stands is also provided in the base frame 3 (not shown).

  FIG. 4 is a control block diagram of one unit of the hemming apparatus described above. A servo motor 35 that drives the toggle link mechanism 52, a connecting air cylinder 49 that drives the pin 51, and a positioning air cylinder 55 that drives the pin 57 are driven and controlled by a controller 61 formed of, for example, a microcomputer.

  Next, the operation of the hemming apparatus according to the first embodiment will be described based on the simplified operation explanatory diagrams of FIGS.

  FIG. 5 shows a state in which the workpiece W is loaded and set on the hem die 7. The swing frame 11 is in a position where the preliminary bending blade 21 and the main bending blade 23 are separated from the edge F of the workpiece W. Inclined. The workpiece W to be input is, for example, a panel member of an automobile, and is a combination of the inner panel and the outer panel, and edge bending is performed so that the edge F provided on the outer panel overlaps the inner panel. The workpiece W after being thrown in is assumed to be positioned and fixed to the hem die 7.

  The positioning air cylinder 55 in the state of FIG. 5 has a pin 57 at a position corresponding to the central pin insertion hole 3 b, but is not inserted into the pin insertion hole 3 b, and the swing frame 11 is attached to the base frame 3. The positioning is not fixed. On the other hand, the pin 51 of the connecting air cylinder 49 is inserted into the lower pin insertion hole 13 a to connect the third link 45 and the swing frame 11.

  When the servomotor 35 is driven to rotate forward and the screw rod 31 is rotated in the state shown in FIG. 5 after the workpiece W is inserted, the nut 27 moves along the screw rod 31 in a direction approaching the speed reducer 33. As a result, the swing frame 11 swings and rotates counterclockwise in FIG. 5 about the swing support shaft 9 via the toggle link mechanism 52 and the third link 45, and the pre-bending blade 21 and the main bend are bent. The blade 23 is in an upright state shown in FIG. 6 as it approaches the edge F of the workpiece W.

  At this time, the slide frame 19 remains positioned at the uppermost position with respect to the swing frame 11, and the pre-bending blade 21 is positioned immediately above the edge F of the workpiece W, so that a pre-hem set state is established. Further, the swing frame 11 abuts on a stopper (not shown) provided on the base frame 3 in the above-described standing state.

  In the pre-hem setting state of FIG. 6, the positioning air cylinder 55 is driven, and the pin 57 is advanced and inserted into the positioning hole 3a (the same state as FIG. 1), thereby positioning the swing frame 11 on the base frame 3. Fix it. On the other hand, the connection air cylinder 49 pulls out the inserted pin 51 from the pin insertion hole 13a, and releases the connection between the third link 45 and the swing frame 11.

  In this state, when the servo motor 35 is further driven forward to move the nut 27 closer to the speed reducer 33, the slide is made via the first link 25 and the second link 41 as shown in FIG. The frame 19 slides downward in the figure with respect to the swing frame 11. As the slide frame 19 moves downward, the pre-bending blade 21 integrated therewith also moves (lowers) in the same direction, and the edge F of the work W is pre-bent to about 45 degrees, for example, and the pre-hem is completed. .

  After the pre-bending process is completed, the servo motor 35 is driven in reverse to move the nut 27 in a direction away from the speed reducer 33, whereby the slide frame 19 is raised to the same state as in FIG. Set to pre-hem set state. At this time, the preliminary bending blade 21 is also lifted together with the slide frame 19 and is separated from the edge F of the workpiece W.

  Subsequently, in the state of FIG. 8, the connecting air cylinder 49 is driven to insert the pin 51 into the pin insertion hole 13a to connect the third link 45 and the swing frame 11, while the positioning air cylinder 55 is When driven, the pin 57 is pulled out from the pin insertion hole 3a, and the fixation of the swing frame 11 to the base frame 3 is released.

  Next, in this state, the servo motor 35 is further reversely driven to move the nut 27 in a direction away from the speed reducer 33, so that the swing frame 11 is clockwise in FIG. 8 about the swing support shaft 9. 9 and the pre-bending blade 21 and the main bending blade 23 are separated from the edge F of the workpiece W, and the inclined state shown in FIG. 9 (the same as the inclined state in FIG. 5) is obtained.

  In the state after the swing in FIG. 9, the connecting air cylinder 49 is driven, the pin 51 is pulled out from the pin insertion hole 13 a, and the connection between the third link 45 and the swing frame 11 is released, while the positioning air cylinder 55 is driven, the pin 57 is inserted into the pin insertion hole 3 b, and the swing frame 11 is positioned and fixed to the base frame 3.

  In this state, when the servo motor 35 is driven to rotate forward and the nut 27 is moved in the direction approaching the speed reducer 33, the slide frame 19 is moved to the swing frame 11 via the toggle link mechanism 52 as shown in FIG. On the other hand, the pre-bending blade 21 that moves downward in the figure and moves with it is at a position corresponding to the retracting recess 7a of the hem die 7, and the main bending blade 23 is at the upper position of the hem die 7, thereby Switch the hem blade.

  The third link 45 rotates together with the swing support shaft 9 by the rotation operation of the toggle link mechanism 52 by the switching operation of the hem blade, and the pin 51 in the connecting air cylinder 49 at the tip corresponds to the upper pin insertion hole 13b. It becomes the position to do. The pin 51 is inserted into the pin insertion hole 13b to connect the third link 45 and the swing frame 11, and the pin 57 in the positioning air cylinder 55 is pulled out from the pin insertion hole 3b. Is fixed to the base frame 3.

  From the state shown in FIG. 10, the servo motor 35 is driven forward to move the nut 27 in a direction approaching the speed reducer 33, whereby the swing frame 11 is moved via the toggle link mechanism 52 and the third link 45. Then, it is swung and rotated counterclockwise in the figure around the swing support shaft 9 to stand upright in the vertical direction as shown in FIG.

  At this time, the pre-bending blade 21 enters the retracting recess 7a of the hem die 7 and at the same time, the main bending blade 23 is in a hem set state located immediately above the edge F of the workpiece W.

  In the hem set state of FIG. 11, the positioning air cylinder 55 is driven, the pin 57 is advanced and inserted into the positioning hole 3 a, and thereby the swing frame 11 is positioned and fixed to the base frame 3. On the other hand, the connecting air cylinder 49 pulls out the inserted pin 51 from the pin insertion hole 13b and releases the connection between the third link 45 and the swing frame 11.

  In this state, when the servo motor 35 is further rotated forward to move the nut 27 closer to the speed reducer 33, the slide is made via the first link 25 and the second link 41 as shown in FIG. The frame 19 slides downward in the figure with respect to the swing frame 11. As the slide frame 19 moves downward, the main bending blade 23 integrated therewith also moves (lowers) in the same direction, and the edge F of the workpiece W that has been pre-bent is subjected to main bending to complete the hem. It becomes. At this time, the pre-bending blade 21 moves downward in the retracting recess 7 a, so that it does not interfere with the hem die 7.

  After the final bending process, the servo motor 35 is driven in reverse to move the nut 27 in a direction away from the speed reducer 33, so that the slide frame 19 is raised to the same state as in FIG. To do. At this time, the main bending blade 23 is also lifted and separated from the edge F of the workpiece W.

  In the state of FIG. 13, the connecting air cylinder 49 is driven to insert the pin 51 into the pin insertion hole 13 b to connect the third link 45 and the swing frame 11, while driving the positioning air cylinder 55. Then, the pin 57 is pulled out from the pin insertion hole 3a, and the connection of the swing frame 11 to the base frame 3 is released.

  Next, in this state, the servo motor 35 is further reversely driven to move the nut 27 in a direction away from the speed reducer 33, so that the swing frame 11 is clockwise in FIG. 13 about the swing support shaft 9. And the pre-bending blade 21 and the main bending blade 23 are in the inclined state shown in FIG. 14 (the same as the inclined state in FIG. 5) in which they are separated from the edge F of the workpiece W.

  The workpiece W after processing is taken out in the state shown in FIG. 14, and then the connecting air cylinder 49 is driven to pull the pin 51 out of the pin insertion hole 13 b, thereby connecting the third link 45 and the swing frame 11. On the other hand, the positioning air cylinder 55 is driven, the pin 57 is inserted into the pin insertion hole 3b, and the swing frame 11 is positioned and fixed to the base frame 3.

  In this state, when the servo motor 35 is further reversely driven to move the nut 27 in a direction away from the speed reducer 33, the slide frame 19 moves upward in the drawing relative to the swing frame 11, as shown in FIG. Then, the pre-bending blade 21 and the main bending blade 23 that move together with this are in the same state as when the workpiece W shown in FIG. 5 is loaded, and wait for the loading of the workpiece to be processed next.

  FIG. 16 shows a state during maintenance. This is because, after the processed workpiece W is taken out as shown in FIG. 15, the pin 51 of the connecting air cylinder 49 is inserted into the pin insertion hole 13a, while the pin 57 of the positioning air cylinder 55 is pulled out from the pin insertion hole 3b. In this state, the servo motor 35 is further driven in reverse to move the nut 27 in a direction away from the speed reducer 33.

  Thus, the swing frame 11 swings and rotates clockwise in FIG. 15 around the swing support shaft 9, and the side plate 13 comes into contact with the stopper 59 shown in FIG. At this time, the pin 57 of the positioning air cylinder 55 is in a position corresponding to the pin insertion hole 3c, and the rocking frame 11 is positioned and fixed to the base frame 3 by inserting the pin 57 into the pin insertion hole 3c. Maintenance work is performed with the frame 11 being wide open.

  As described above, at the time of the pre-bending process and the main bending process, the pre-bending blade 21 and the main bending blade 23 move linearly toward the workpiece W positioned below with respect to the swing frame 11 in the standing state.

  For this reason, as shown in FIG. 3, each unit U1, U2, U3, U4 of the hemming devices adjacent to each other that bends the edges adjacent to each other at an angle with respect to the corner portion, does not interfere with each other. This eliminates the need for shifting the operation timing, shortens the machining time, and eliminates the need for a separate unit dedicated to the corner, thus preventing an increase in equipment costs.

  Further, during the pre-bending process and the main bending process, the pre-bending blade 21 and the main bending blade 23 linearly approach and move in the pressurizing direction with respect to the workpiece W, so that the approach angle with respect to the workpiece W is always constant, and the processing quality is increased. In addition, the design is easy, and it is not necessary to design each time according to the workpiece shape, and standardization is easy.

  Further, since the swing frame 11 swings and rotates about the swing support shaft 9 directly below the pressurizing portion, the overall height of the apparatus can be suppressed, and the apparatus height can be reduced. Can do.

  FIG. 17 is a perspective view of a hemming apparatus according to the second embodiment of the present invention, and FIG. 18 is an internal structure diagram showing the link structure. In the first embodiment described above, the blade switching operation for switching the pre-bending blade 21 to the main bending blade 23 is performed by the toggle link mechanism 52 after the pre-bending process. However, in the second embodiment, the blade switching operation is performed. Is performed using an air cylinder. Further, here, contrary to the first embodiment, the preliminary bending blade 21 is arranged at the upper part and the main bending blade 23 is arranged at the lower part.

  Hereinafter, parts different from the first embodiment of the second embodiment will be described in detail.

  The preliminary bending blade 21 and the main bending blade 23 are held by the bending blade holding frame 63, and the bending blade holding frame 63 is attached to the slide frame 65 so as to be vertically movable. As in the first embodiment, the slide frame 65 moves up and down with respect to the swing frame 67 together with the bending blade holding frame 63 by the toggle link mechanism 52 when performing the pre-bending process and the main bending process. That is, the lower end of the slide frame 65 is connected to the second link 41 in the toggle link mechanism 52 via the connecting shaft 43 as in the first embodiment.

  The bending blade holding frame 63 is provided with a pair of T-shaped guide rails 69 on the opposite side to the side where the preliminary bending blade 21 and the main bending blade 23 are provided so as to sandwich the slide frame 65 from both sides. On the other hand, the swing frame 67 is provided with an L-shaped guide member 71 located outside the guide rail 69 described above. With the guide rail 69 held between the guide member 71 and the slide frame 65, the bending blade holding frame 63 moves up and down in FIG. Do.

  FIG. 18 shows a state in which the bending blade holding frame 63 is moved downward with respect to FIG. 17. The bending blade holding frame 63 is moved by a blade switching air cylinder 73 provided on the slide frame 65 when the bending blade is switched. Move up and down.

  The swing frame 67 is provided with a pair of partition plates 77 inside a pair of side plates 75 provided on both sides, and a connecting plate 79 that connects the side plates 75 and the partition plate 77 to each other is provided on the slide frame 65 side. The connecting plate 79 between the pair of partition plates 77 is formed with an opening 79a for disposing the blade switching cylinder 73 on the lower side, as shown in the side sectional view of FIG. 19, and is disposed in this opening 79a. The blade switching cylinder 73 thus fixed is fixed to the slide frame 65 via fixtures 81 and 83 provided vertically.

  A piston rod 85 extending above the blade switching air cylinder 73 is connected to a lower portion on one end side of the connecting rod 87, and the other end of the connecting rod 87 is connected to the bending blade holding frame 63. The connecting rod 87 is movable in the up-down direction in FIG. 19 together with the bending blade holding frame 63 in the notch hole 65 a provided in the slide frame 65 and the opening 79 a of the swing frame 67.

  As shown in FIG. 17, an opening 79 b is also formed in the connecting plate 79 between the side plate 75 and the partition plate 77 in the swing frame 67. A bending blade stopper air cylinder 89 that is fixed to the slide frame 65 is disposed in the opening 79b. In the bending blade stopper air cylinder 89, as shown in the side sectional view of FIG. 20, the piston rod 91 protruding toward the bending blade holding frame 63 passes through the notch hole 65b provided in the slide frame 65, and the tip thereof is The stopper block 93 is connected.

  The stopper block 93 restricts the vertical movement of the bending blade holding frame 63 relative to the slide frame 65 in FIG. 20 by entering between a pair of stoppers 95 and 97 provided above and below the bending blade holding frame 63. As shown in FIG. 20, this restriction position corresponds to a state in which the bending blade holding frame 63 is positioned below the slide frame 65 and preliminary bending is performed by the preliminary bending blade 21 provided at the upper portion. .

  When performing this bending process, with the stopper block 93 retracted and inserted into the notch hole 65b, the piston rod 85 of the blade switching cylinder 73 shown in FIG. The frame 63 is raised with respect to the slide frame 65. At this time, the stoppers 95 and 97 of the bending blade holding frame 63 move in a recess 65 c formed in the slide frame 65.

  Further, in this second embodiment, the positioning air cylinder 55 for positioning and fixing the swing frame 67 to the base frame 3 has its pin 57 (see FIG. 18), and the swing frame 67 stands in the vertical direction. Only in the state, it is configured to be inserted into one pin insertion hole 3a (see FIG. 17) provided in the base frame 3.

  This is because the blade switching air cylinder 73 is used without using the toggle link mechanism 52 when the bending blade is switched while the swinging frame 67 is tilted. This is because it is not necessary to fix to the base frame 3.

  The above-described pin insertion hole 3a is provided with an L-shaped positioning block 98 as shown in FIG. 17 and FIG. 21, which is an enlarged plan sectional view of a portion corresponding to the pin insertion hole 3a in FIG. The positioning block 98 has a tapered surface 98b formed in a portion of the insertion portion 98a inserted into the pin insertion hole 3a in contact with the pin 57, and a correspondingly formed tapered surface 57a on the pin 57. This increases the positioning accuracy.

  In the second embodiment, the connecting air cylinder 49 for connecting the third link 45 and the swinging frame 67 has a pin 51 provided in the base frame 3 as one pin insertion hole 13c (see FIG. 17)).

  This is because the positions of the toggle link mechanism 52 and the third link 45 at the time of swinging the swing frame 67 change before and after the switching of the bending blade because the blade switching air cylinder 73 performs the switching of the bending blade. By not. On the other hand, in the first embodiment, since the switching of the bending blade is performed by the toggle link mechanism 52, the positions of the toggle link mechanism 52 and the third link 45 change before and after the switching of the bending blade. Therefore, two pin insertion holes 13a and 13b are required.

  Furthermore, in the second embodiment, the speed reducer 33 connected to the servo motor 35 is rotated via the rotation support shaft 38 to the bracket 37 installed on the base plate 1 via the speed reducer side bracket 99. Installed as possible.

  FIG. 22 is a control block diagram of one unit of the hemming apparatus according to the second embodiment. The controller 61 controls the servo motor 35 that drives the toggle link mechanism 52, the connecting air cylinder 49 that drives the pin 51, and the positioning air cylinder 55 that drives the pin 57, respectively, in the same manner as in the first embodiment. is there. In addition, the controller 61 also drives and controls the blade switching air cylinder 73 that drives the bending blade holding frame 63 and the bending blade stopper air cylinder 89 that drives the stopper block 93.

  Next, the operation of the hemming apparatus according to the second embodiment will be described based on the simplified operation explanatory diagrams of FIGS. The operations in FIGS. 23 to 33 correspond to the operations in FIGS. 5 to 15 in the first embodiment.

  FIG. 23 shows a state in which a workpiece W similar to that in the first embodiment is put on and set on the hem die 7, and the swing frame 67 includes the preliminary bending blade 21 and the main bending blade 23 at the edge of the workpiece W. It is in a position away from F and is inclined.

  The pin 57 of the positioning air cylinder 55 in the state of FIG. 23 is not inserted into the pin insertion hole 3a, and the swinging frame 67 is not positioned and fixed to the base frame 3. On the other hand, the pin 51 of the connecting air cylinder 49 is inserted into the pin insertion hole 13 c to connect the third link 45 and the swing frame 11.

  When the servo motor 35 is driven in the forward direction to rotate the screw rod 31 in the state shown in FIG. 23 after the workpiece W is inserted, the nut 27 moves along the screw rod 31 in a direction approaching the speed reducer 33. As a result, the swing frame 67 swings and rotates counterclockwise in FIG. 23 about the swing support shaft 9 via the toggle link mechanism 52 and the third link 45, and the pre-bending blade 21 and the main bend. The blade 23 is in an upright state shown in FIG. 24 when approaching the edge F of the workpiece W.

  At this time, similarly to the state shown in FIG. 20, the bending blade holding frame 63 is positioned below the slide frame 65, and the bending block holding air frame 89 advances the stopper block 93 to move the bending blade holding frame. The bending blade holding frame 63 is integrated with the slide plate 65 by interposing between the stoppers 95 and 97 of 63.

  In the state of FIG. 24 in which the swing frame 67 rises from the state of FIG. 23, the preliminary bending blade 21 is positioned immediately above the edge F of the workpiece W, and the main bending blade 23 is the recess recess 7a for the hem die 7. Will get into.

  Next, the positioning air cylinder 55 is driven, and the pin 57 is advanced and inserted into the positioning hole 3a, whereby the swing frame 67 is positioned and fixed to the base frame 3. On the other hand, the connecting air cylinder 49 pulls out the inserted pin 51 from the pin insertion hole 13 c and releases the connection between the third link 45 and the swing frame 67.

  In this state, when the servo motor 35 is further driven to rotate forward to move the nut 27 closer to the speed reducer 33, the slide is made via the first link 25 and the second link 41 as shown in FIG. The frame 65 slides downward relative to the swing frame 67 in the figure. Due to the downward movement of the slide frame 65, the integrated preliminary bending blade 21 is also moved (lowered) in the same direction via the slide frame 65 and the bending blade holding frame 63, and the edge F of the workpiece W is set to about 45 degrees, for example. Pre-bending is performed and the pre-hem is completed. At this time, the main bending blade 23 moves downward in the recess 7a for retraction, so that it does not interfere with the hem die 7.

  At this time, when the pin 57 is inserted into the pin insertion hole 3a and positioned, the taper surface 57a of the pin 57 is in contact with the taper surface 98b of the positioning block 98, so that the positioning accuracy is improved. For this reason, the processing accuracy at the time of preliminary bending improves.

  After the pre-bending process is completed, the servo motor 35 is driven in reverse to move the nut 27 in a direction away from the speed reducer 33, whereby the slide frame 65 is raised to the same state as in FIG. Set to pre-hem set state. At this time, the preliminary bending blade 21 is also lifted together with the slide frame 65 and the bending blade holding frame 63 and is separated from the edge F of the workpiece W.

  Subsequently, in the state shown in FIG. 26, the connecting air cylinder 49 is driven to insert the pin 51 into the pin insertion hole 13c to connect the third link 45 and the swing frame 67, while the positioning air cylinder 55 is When driven, the pin 57 is pulled out from the pin insertion hole 3a, and the fixing of the swing frame 67 to the base frame 3 is released.

  In this state, the servo motor 35 is further reversely driven to move the nut 27 in a direction away from the speed reducer 33, whereby the swing frame 67 swings clockwise in FIG. 26 about the swing support shaft 9. 27, the pre-bending blade 21 and the main bending blade 23 are separated from the edge F of the workpiece W, and the inclined state shown in FIG.

  Next, in this state, the bending blade stopper air cylinder 89 is driven backward to pull out the stopper block 93 from between the stoppers 95 and 97 so that the bending blade holding frame 63 is movable with respect to the slide frame 65.

  Then, the blade switching air cylinder 73 shown in FIG. 19 is driven forward to move the bending blade holding frame 63 upward relative to the slide frame 65, and the main bending blade 23 that moves together with the bending blade holding frame 63 is the hem type 7. The upper position is reached, whereby the state of FIG. 28 is reached in which the hem blade is switched.

  That is, at this time, the blade switching air cylinder 73 is in a state where its piston rod 85 protrudes from the retracted position shown in FIG. 19 to the forward limit position shown in FIG.

  From the state shown in FIG. 28, the servo motor 35 is driven forward to move the nut 27 in a direction approaching the speed reducer 33, whereby the swing frame 67 is moved via the toggle link mechanism 52 and the third link 45. Then, it is swung in the counterclockwise direction in the figure around the rocking support shaft 9, and is in a state of standing upright in the vertical direction as shown in FIG. At this time, the main bending blade 23 is in a hem-set state in which the bending blade 23 is located immediately above the edge F of the workpiece W.

  In the hem set state of FIG. 29, the positioning air cylinder 55 is driven and its pin 57 is advanced and inserted into the positioning hole 3a, whereby the swing frame 67 is positioned and fixed to the base frame 3. On the other hand, the connecting air cylinder 49 pulls out the inserted pin 51 from the pin insertion hole 13 c and releases the connection between the third link 45 and the swing frame 67.

  In this state, when the servo motor 35 is further driven to rotate forward to move the nut 27 closer to the speed reducer 33, the slide is made via the first link 25 and the second link 41 as shown in FIG. The frame 65 slides downward relative to the swing frame 67 in the figure.

  At this time, as shown in FIG. 34 described above, the blade switching air cylinder 73 in which the piston rod 85 is in the forward limit position, the slide frame 65 fixing the blade switching air cylinder 73, and the blade switching air cylinder 73. And the bending blade holding frame 63 connected to each other through the connecting rod 87 move relative to the swinging frame 67 together.

  Then, the main bending blade 23 integrated with the bending blade holding frame 63 is also moved (lowered) in the same direction, the edge F of the workpiece W that has been subjected to the pre-bending process is finally bent, and the hem is completed.

  After the final bending process, the servo motor 35 is driven in reverse to move the nut 27 in a direction away from the speed reducer 33, whereby the slide frame 65 is raised to the same state as in FIG. To do. At this time, the main bending blade 23 is also lifted and separated from the edge F of the workpiece W.

  In the state shown in FIG. 31, the connecting air cylinder 49 is driven to insert the pin 51 into the pin insertion hole 13c to connect the third link 45 and the swing frame 67, while driving the positioning air cylinder 55. Then, the pin 57 is pulled out from the pin insertion hole 3a, and the connection of the swing frame 67 to the base frame 3 is released.

  Next, in this state, the servo motor 35 is further reversely driven to move the nut 27 in a direction away from the speed reducer 33, whereby the swing frame 67 is rotated clockwise in FIG. The pre-bending blade 21 and the main bending blade 23 are in the inclined state shown in FIG. 32 where they are separated from the edge F of the workpiece W.

  In the state of FIG. 32 described above, the processed workpiece W is taken out, and then the blade switching air cylinder 73 shown in FIG. 34 is driven backward to move the bending blade holding frame 63 downward with respect to the slide frame 65. . As a result, the pre-bending blade 21 that moves with the lowering of the bending blade holding frame 63 is positioned above the hem mold 7 as shown in FIG. The corresponding position is reached, the switching operation of the bending blade is completed, the state is the same as when the workpiece W shown in FIG. 23 is loaded, and the next workpiece is waiting to be loaded.

  At this time, the stopper blade 93 is advanced by the bending blade stopper air cylinder 89 so as to enter between the stoppers 95 and 97 of the bending blade holding frame 63, and the bending blade holding frame 63 is integrated with the slide plate 65. .

  According to the second embodiment described above, in addition to the same effects as those of the first embodiment described above, the second embodiment is superior to the first embodiment in the following points.

  25, the rotation positions of the first link 25 and the second link 41 during the preliminary bending process shown in FIG. Is closer to the straight line Q connecting the connecting shaft 39 and the swing support shaft 9 and closer to the pressing direction. The output can be efficiently transmitted to the pressurizing operation, and labor saving can be achieved.

  On the other hand, in the pre-bending process of FIG. 7 in the first embodiment, the straight line P connecting the connecting shaft 39 and the connecting shaft 43 is compared with the straight line Q connecting the connecting shaft 39 and the swing support shaft 9. It is not as close as the 12 main bending process, and requires a large output of the drive source during the preliminary bending process.

  The prebending blade 21 preliminarily bends the edge F of the workpiece W to a predetermined angle, and adjustment work such as polishing is performed more frequently than the main bending blade in order to obtain the bending angle. Although it is necessary, in the second embodiment, the preliminary bending blade 21 is disposed on the upper portion of the main bending blade 23, so that the adjustment work is easy.

  Furthermore, since the switching operation of the bending blade in the second embodiment is performed by the blade switching air cylinder 73, it can be performed in a short time.

It is an internal structure figure which shows the link structure of the hemming processing apparatus concerning 1st Embodiment of this invention. It is a perspective view of the hemming device concerning a 1st embodiment. It is a perspective view which shows the whole apparatus which has arrange | positioned the hemming processing apparatus of FIG. 2 as four units. It is a control block diagram in one unit of the hemming processing apparatus in a 1st embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the workpiece | work insertion in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the prehem setting in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of completion of prehem in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the prehem setting in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the swing in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the blade switching in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem setting in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem completion in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem setting in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the workpiece | work taking-out in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the blade switching in 1st Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the maintenance in 1st Embodiment. It is a perspective view of the hemming processing apparatus concerning 2nd Embodiment of this invention. It is an internal structure figure which shows the link structure of the hemming processing apparatus in 2nd Embodiment. It is side surface sectional drawing in the part which provided the blade switching air cylinder of the hemming processing apparatus in 2nd Embodiment. It is side surface sectional drawing in the part which provided the bending blade stopper air cylinder of the hemming processing apparatus in 2nd Embodiment. It is the plane sectional view to which the part corresponding to the pin insertion hole in FIG. 17 was expanded. It is a control block diagram in one unit of the hemming processing apparatus in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the workpiece | work insertion in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the prehem setting in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the completion of prehem in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the prehem setting in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the swing in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the blade switching in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem setting in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem completion in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of hem setting in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the workpiece | work taking-out in 2nd Embodiment. It is operation | movement explanatory drawing of the hemming processing apparatus at the time of the blade switching in 2nd Embodiment. It is explanatory drawing which shows the state which made the piston rod of the blade switching air cylinder in 2nd Embodiment the forward limit position.

Explanation of symbols

3 Base frame 3a, 3b, 3c, 13a, 13b Pin insertion hole 9 Swing support shaft 11, 67 Swing frame 19, 65 Slide frame 21 Preliminary bending blade (hem blade)
23 bending blades (hem blades)
25 First link 27 Nut (drive connecting part)
35 Servo motor (drive source)
41 Second link 45 Third link 47 Connecting portion between third link and swing frame 49 Linked air cylinder 51, 57 Pin 52 Toggle link mechanism 53 Positioning portion of swing frame relative to base frame 55 Positioning air cylinder 73 Blade switching air cylinder W Work F Edge of work

Claims (9)

  A toggle frame that is integrally provided with a hem blade that bends the edge of the workpiece with respect to a swing frame that is swing-displaced by a toggle link mechanism connected to a drive source is provided so as to be linearly slidable. The swing frame is swung and displaced so that the hem blade comes close to the edge of the workpiece by the operation of, and the slide frame is linearly moved with respect to the swing frame by the operation of the toggle link mechanism. The hemming apparatus is characterized in that the edge of the workpiece is bent by the hem blade provided on the slide frame.   The hem blade includes a pre-bending blade that performs a pre-bending process on the edge of the workpiece and a main bending blade that performs the same bending blade, and each of these bending blades is disposed along the slide direction of the slide frame, The slide frame is slid with respect to the swing frame by the operation of the toggle link mechanism at a position where the swing frame is swing-displaced so that the hem blade is separated from the edge of the workpiece. The hemming processing apparatus according to claim 1, wherein the bending blades are switched with each other.   The hem blade includes a pre-bending blade that performs a pre-bending process on the edge of the workpiece and a main bending blade that performs the same bending blade, and each of the bending blades is disposed along the slide direction of the slide frame. The bending blades are integrally movable with respect to the slide frame, and the swing frame is swung and displaced so that the hem blade is separated from the edge of the workpiece. The hemming processing apparatus according to claim 1, wherein the bending blades are switched by sliding the bending blades with respect to the slide frame by an air cylinder provided in the slide frame.   The toggle link mechanism includes a first link having one end connected to a drive connecting portion that moves back and forth by a drive source, and a second link having one end connected to the first link and the other end connected to the slide frame. The hemming apparatus according to any one of claims 1 to 3, wherein each of the links is provided.   A third link having one end connected to the rotation support portion of the first link with respect to the base frame and the other end connected to the swing frame is provided, and a connecting portion between the third link and the swing frame 5. The hemming processing apparatus according to claim 4, wherein the hemming apparatus is configured to be switched so as to be in a connected state when the swinging frame swings, and to be in a disconnected state when hemming is performed.   The toggle link mechanism includes a first link having one end connected to a drive connecting portion that moves back and forth by a drive source, and a second link having one end connected to the first link and the other end connected to the slide frame. A third link having one end connected to the rotation support portion of the first link with respect to the base frame and the other end connected to the swinging frame. The connecting portion with the swing frame is configured to be switchable so as to be connected when the swing frame swings, while being disconnected during hemming, and the swing frame of the third link by the connecting portion. The hemming apparatus according to claim 2, wherein a connection position with respect to is different between the preliminary bending process and the main bending process.   The oscillating frame is positioned and fixed with respect to the base frame at the time of the hemming when the hem blade approaches the edge of the workpiece and at the time of switching the bending blade at which the hem blade is separated from the edge of the workpiece. A hemming apparatus according to any one of claims 1, 2, 4, 5, and 6, further comprising a positioning portion that performs the positioning.   The hemming apparatus according to any one of claims 5 to 7, wherein each of the connecting portion and the positioning portion includes a pin that moves forward and backward by cylinder driving and a pin insertion hole into which the pin is inserted.   A toggle frame that is integrally provided with a hem blade that bends the edge of the workpiece with respect to a swing frame that is swing-displaced by a toggle link mechanism connected to a drive source is provided so as to be linearly slidable. The swing frame is moved with respect to the swing frame by the operation of the toggle link mechanism in a state in which the swing frame is swing-displaced so that the hem blade comes close to the edge of the workpiece. A hemming method, wherein the edge of the workpiece is bent with the hem blade provided on the slide frame.

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