JP2015229172A - Hem machining device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem relating to mechanical bending generated on a robot 4, in a hem machining device 1.SOLUTION: In a hem machining device 1, a pressurizing portion 5 converts torque generated by an electric motor 20 into thrust and adds that to a roller 3, thereby adding pressurizing force to the roller 3. A control portion 8 carries out control to obtain a command value of a current flowing in the electric motor 20, and make a detection value of the current detected by a current sensor 6 match with the command value. The control portion 8 executes a pressurizing force control mode which obtains the command value of the current according to a target value of the pressurizing force. Therefore, by high-speed feedback based on the detection value of the current sensor 6, the mechanical bending of a robot 4 can be solved in an early stage, so that in the hem machining device 1, a problem relating to the mechanical bending generated on the robot 4 can be solved.

Description

  The present invention relates to a hem processing apparatus that performs hem processing on a metal plate-like material (hereinafter referred to as a workpiece).

Conventionally, in a hem processing apparatus, a roller that rolls while applying pressure to a workpiece, an articulated robot that holds the roller (hereinafter sometimes referred to as a robot), and a pressure that applies pressure to the roller A configuration including a unit is well known. In the hem processing apparatus, the operation of the articulated robot is controlled to displace the roller in a three-dimensional manner, and the portion to be processed is bent while applying a pressing force exceeding 100 kgf to the workpiece through the roller.
By the way, in the hem processing apparatus, various improvements are made for the purpose of improving the quality of the peripheral shape after hem processing (hereinafter sometimes referred to as edge shape), shortening the processing cycle, and reducing the apparatus cost. ing.

  For example, Patent Document 1 discloses a vibration applying unit that vibrates a roller in a pressurizing direction. In other words, Patent Document 1 discloses a hydraulic cylinder mechanism and a linear motion mechanism including an electric motor and a ball screw as a pressurizing unit (described in the document as hem roller support units 3, 30, and 40). ing. Then, the roller is vibrated in the pressurizing direction by switching between supply and return of hydraulic pressure at high speed or by switching the rotation direction of the electric motor between high and low speeds. This makes it possible to reduce the bending resistance of the part to be processed when the roller moves at high speed, and to further increase the pressurizing force by the hammering effect, improving the quality of the edge shape and shortening the processing cycle. Can be achieved.

  Further, in Patent Document 2, it is described that there is a limit in the moving range of the roller according to the limit of the operation range of the robot. Further, in Patent Document 2, due to the limit of the moving range of the roller, In order to prevent the hem processing from stagnation, a moving device that moves the workpiece to the moving range of the roller is disclosed. And in patent document 2, the time of hem processing standby while moving a workpiece | work by applying pressurizing force to a to-be-processed part with a rotor, for example, moving a workpiece | work by cooperation operation | movement of an articulated robot and a moving apparatus. And further shortening of the machining cycle can be achieved.

In recent years, in the hem processing apparatus 100, in order to achieve further shortening of the processing cycle without reducing the quality of the edge shape, it has been studied to solve the problem related to the mechanical bending of the robot 101 shown in FIG. Yes.
That is, when a pressing force is applied to the work (not shown) from the pressure unit 102 via the roller 103, a repulsive force is applied from the work to the robot 101 via the roller 103 and the pressure unit 102 as a reaction force of the pressing force. Works.

  As a result, mechanical bending occurs in the robot 101, the roller 103 escapes in the direction opposite to the applied pressure, and hem processing becomes insufficient. For this reason, it is necessary to suppress the moving speed of the roller 103 to be equal to or lower than a speed at which quality deterioration due to mechanical bending can be tolerated (in FIG. 6, the part drawn by a solid line indicates a state where the roller 103 is not bent, and is indicated by a dotted line). The drawn part shows a bent state.)

Therefore, in order to achieve further shortening of the machining cycle without lowering the quality of the edge shape, there is an increasing demand for solving the problems related to the mechanical bending of the robot 101.
Since the mechanical deflection of the robot 101 becomes more prominent as the joint of the robot 101 extends, the operation range of the robot 101 needs to be limited to a range in which quality degradation due to the mechanical deflection of the robot 101 can be tolerated. is there.

  For this reason, since the operation range of the robot 101 can be expanded by solving the problem related to the mechanical bending of the robot 101, the moving device can be eliminated. Therefore, there is a high demand for solving the problems related to mechanical bending of the robot 101 from the viewpoint of eliminating the moving device and reducing the device cost.

JP 05-185159 A Japanese Patent Laid-Open No. 07-116743

  The present invention has been made to solve the above-described problems, and an object of the present invention is to eliminate the problems related to mechanical bending generated in an articulated robot in a hem processing apparatus.

[Means of Claim 1]
The hem processing apparatus according to claim 1 performs hem processing on a metal plate-shaped material (work). The hem processing apparatus includes the following roller, articulated robot, pressurizing unit, current sensor, control unit, and pressure control mode.

  First, the roller rolls while applying a pressure to the workpiece while applying hem processing, and the articulated robot (robot) is controlled so that the roller is held and the roller is displaced three-dimensionally. is there. Further, the pressurizing unit converts the torque generated by the electric motor into thrust and applies it to the roller, thereby applying pressure to the roller. Furthermore, the current sensor detects a current flowing through the electric motor, and the control unit obtains a command value of the current flowing through the electric motor, and converts the detected value of the current detected by the current sensor into a current command value. Control to match. The pressurizing force control mode is a control mode executed by the control unit, and obtains a current command value according to the target value of the pressurizing force.

As a result, the hem processing apparatus can solve the problems related to mechanical bending of the robot by acting as follows.
First, when a repulsive force acts on the robot, the robot tries to escape in the direction opposite to the applied pressure, so that mechanical deformation of the robot starts to occur. Thereby, since the pressurizing force applied to the workpiece is lowered, the current detection value by the current sensor is lowered. On the other hand, the control unit operates to immediately increase the detected current value in order to make the detected current value coincide with the command value, so that the pressure is increased.

  A series of feedback operations from the occurrence of bending to the increase of the applied pressure is based on the detected value of the current by the current sensor, and is extremely responsive. That is, instead of detecting and feeding back the amount of bending and the applied pressure in the robot, it is possible to output a command for increasing the applied pressure very quickly by detecting and feeding back the electric motor current. For this reason, mechanical bending is eliminated at an early stage, and the applied pressure is kept constant.

As described above, in the hem processing apparatus, the problems related to the mechanical bending of the robot can be solved. In other words, the high-speed feedback based on the detection value of the current sensor can eliminate the mechanical bending of the robot at an early stage, so that the moving speed of the roller can be increased and the robot operating range can be improved without deteriorating the edge shape quality. Can be enlarged. For this reason, while being able to shorten a processing cycle, a moving apparatus can be abolished and apparatus cost can be reduced.
In addition, since the applied pressure can be operated in a stepless manner according to the current value, the finishing state after the hem processing can be freely changed by changing the target value of the applied pressure.

[Means of claim 2]
According to the hem processing apparatus of the second aspect, the control unit executes the pressure control mode when performing the complete hem processing in which the part to be processed of the workpiece is turned back by 180 °.
The problem related to the mechanical deflection of the robot is particularly noticeable when a complete hemming process is performed. Therefore, the effect of the means of claim 1 can be effectively obtained by executing the pressure control mode when performing complete hemming.

[Means of claim 3]
The hem processing apparatus according to claim 3 includes the following position sensor and position control mode. First, the position sensor detects the rotational position of the electric motor. The position control mode is a control mode executed by the control unit, and fixes the target value of the rotational position and obtains a current command value so that the detected value by the position sensor matches the fixed target value. .
Thereby, the finishing state after hem processing can be controlled without controlling the pressing force. For this reason, the finishing state which can respond can be increased by adding the variation of control mode.

[Means of claim 4]
According to the hem processing apparatus of claim 4, the control unit executes the position control mode when performing the incomplete hem processing in which the angle width at which the part to be processed of the workpiece is turned back is 5 ° or more and less than 180 °. .
When the pressure control mode is executed when performing non-complete hem machining, control is performed so as to maintain the pressure regardless of the target finishing state (that is, the folded angle width should be 5 ° or more and less than 180 °). Therefore, it is difficult to perform non-complete hem processing. Therefore, a target finishing state can be obtained by executing the position control mode when performing incomplete hem machining.

[Means of claim 5]
According to the hem processing apparatus of the fifth aspect, the control unit selectively uses the pressure control mode and the position control mode according to the three-dimensional position of the roller.
As a result, hemming can be continuously performed on a workpiece having a part suitable for the pressure control mode and a part suitable for the position control mode without interruption in time.

[Means of claim 6]
The hem processing device according to claim 6 hem-processes the linear portion where the edge shape after the hem processing is a straight line by the pressure control mode, and the position after the hem processing is a curve where the edge shape becomes a curve. Hem processing is performed according to the control mode.
When the complete hem processing is performed on the curved portion, there is a risk that streaks or breakage may occur due to metal compression or expansion. Therefore, by using the pressure control mode for the straight line portion and using the position control mode for the curved portion, it is possible to prevent the occurrence of streaks and breaks in the curved portion while maintaining high quality in the straight portion.

[Means of Claim 7]
According to the hem processing apparatus of claim 7, the control unit switches from the pressure control mode to the position control mode when the three-dimensional position of the roller shifts from the straight portion to the curved portion, and When the position shifts from the curved portion to the straight portion, the position control mode is switched to the pressure control mode.
Thereby, hemming can be continuously performed on a workpiece in which a straight portion and a curved portion are continuous without interruption in time.

It is a whole block diagram of a hem processing apparatus (Example). (A) is a principal part block diagram of the hem processing apparatus when performing complete hem processing, (b) is an auxiliary block diagram of the hem processing apparatus when performing complete hem processing (implementation) Example). It is a principal part block diagram of the hem processing apparatus when incomplete hem processing is given (Example). (A) is a top view of a workpiece, (b) is a partially enlarged view of (a) explaining a concave curve portion, and (c) is a partially enlarged view of (a) explaining a convex curve portion. (Example). (A) is a control block diagram which shows a pressurizing force control mode, (b) is a control block diagram which shows a position control mode (Example). It is explanatory drawing explaining the problem regarding the mechanical bending which generate | occur | produces in the robot in a hem processing apparatus (conventional example).

  The hem processing apparatus of the embodiment will be described based on the following examples.

[Configuration of Example]
The structure of the hem processing apparatus 1 of an Example is demonstrated using FIGS.
The hem processing apparatus 1 performs hem processing on a metal plate-like material (work) 2. For example, a roller 3, an articulated robot (robot) 4, a pressure unit 5, and a current sensor 6 described below. , A position sensor 7, a control unit 8, a pressure control mode, and a position control mode.

The roller 3 rolls while applying a pressure to the work 2 to perform hem processing, and has a cylindrical surface 10 that rolls while being pressed against the work 2. The roller 3 is attached to the tip of the robot 4 together with the pressure unit 5 and moves three-dimensionally by the operation of the robot 4.
The robot 4 holds the roller 3 and is controlled so that the roller 3 moves three-dimensionally. Then, the robot 4 moves in a three-dimensional manner by controlling the operation of the control unit 8 or changes its posture, thereby expanding and contracting the joint, and maintaining the pressure contact by the cylindrical surface 10 while keeping the roller 3 in a predetermined locus. The workpiece 2 is hem processed.

  Here, the workpiece 2 is, for example, a door panel or a hood panel of a vehicle, and includes an outer panel 2a and an inner panel 2b as shown in FIG. Then, on the mounting table 11, the inner panel 2 b is placed on the outer panel 2 a, and hem processing is performed with the peripheral edge of the outer panel 2 a as the processed portion 12.

That is, the peripheral edge of the outer panel 2a is stood upward in advance on the outer peripheral side of the peripheral edge of the inner panel 2b, and the peripheral edge of the outer panel 2a standing upward is used as the processed portion 12 so as to overlap the peripheral edge of the inner panel 2b from above. Bend it.
In addition, on the periphery of the workpiece 2, there are a straight portion 14 where the edge shape after hemming is a straight line, and a curved portion 15 where the edge shape after hemming is a curve (see FIG. 4). Further, the curved portion 15 includes a convex curved portion 15a whose edge shape is convex on the outer peripheral side, and a concave curved portion 15b whose edge shape is concave on the inner peripheral side.

  Then, the workpiece 2 is supported and positioned on the mounting table 11 by the positioning body 17 from the outer peripheral side, and is subjected to hem processing while being fixed by the clamp 18 from above (see FIG. 2B). ). A plurality of clamps 18 are arranged along the periphery of the workpiece 2, and each clamp 18 is controlled in operation by the control unit 8 so as not to hinder the operation of the roller 3 and the robot 4, and is appropriately applied to the workpiece 2. Unpin.

The pressure unit 5 is attached to the tip of the robot 4, holds the roller 3 while being rotatably supported, generates pressure, and applies pressure to the work 2 by the roller 3.
More specifically, the pressurizing unit 5 includes the following electric motor 20, ball screw 21, slide unit 22, and the like.
First, the electric motor 20 is a servo motor that is energized and controlled by the control unit 8 and has, for example, a known brushless structure including a three-phase coil and a permanent magnet.

The ball screw 21 is a well-known machine element that converts rotational motion into linear motion, and converts torque generated by the electric motor 20 into thrust. Further, the slide unit 22 holds the roller 3 while rotatably supporting it, and linearly moves according to the operation of the ball screw 21.
As described above, the pressurizing unit 5 converts the torque generated by the electric motor 20 into thrust and applies it to the roller 3 to apply pressure to the roller 3.

The current sensor 6 detects a current supplied to the three-phase coil of the electric motor 20 and includes a known current detection resistor. The current sensor 6 is provided in a predetermined control device 24 together with the control unit 8 as shown in FIG. In addition, the control device 24 is provided with a servo amplifier 25 that supplies power to the three-phase coil in response to a command from the control unit 8.
The position sensor 7 detects the rotational position of the rotor of the electric motor 20 (hereinafter sometimes referred to as “the rotational position of the electric motor 20”), and is attached to the electric motor 20 (FIG. 1). Etc.). The position sensor 7 is a known encoder, for example.

The control unit 8 is a microcomputer or the like provided in the control device 24, and performs arithmetic processing for controlling each unit of the hem processing device 1 (that is, the robot 4, the pressurizing unit 5, the clamp 18, and the like).
Then, the control unit 8 obtains a command value I * of the current supplied to the electric motor 20 and controls the detected value I of the current detected by the current sensor 6 as the command value I *. Feedback control for matching is performed (see FIG. 5).

  That is, the control unit 8 calculates the command value V * of the voltage to be applied to the coil of the electric motor 20 according to the current command unit 26 that calculates the command value I *, and the difference between the command value I * and the detected value I. Function of the voltage command unit 27. Then, the servo amplifier 25 supplies power to the coil from the power supply according to the command value V *. Thereby, the control unit 8 reduces the difference between the command value I * and the detected value I, and makes the detected value I coincide with the command value I *.

The pressurizing control mode is a control mode executed by the control unit 8 and obtains a command value I * according to the target value F * of the pressurizing force as shown in FIG.
That is, in the pressure control mode, the current command unit 26 obtains the command value I * according to the target value F *. Further, the target value F * is manually input by a teaching pendant 29 that is a separate body from the control device 24, for example.

  The position control mode is a control mode executed by the control unit 8, and as shown in FIG. 5 (b), the target value θ * of the rotational position of the electric motor 20 is fixed to a constant value and fixed. The command value I * is obtained so that the detection value θ detected by the position sensor 7 matches the target value θ *. That is, in the position control mode, the current command unit 26 obtains the command value I * according to the fixed target value θ *.

Further, the pressure control mode and the position control mode are stored in the storage device of the control device 24, and the control unit 8 reads out and executes one of the modes according to the edge shape of the workpiece 2.
Here, in the hem processing, the complete hem processing (see FIG. 2) in which the processed portion 12 is folded back by 180 ° and the non-turned angle width of the processed portion 12 of the workpiece 2 is not less than 5 ° and less than 180 °. It can be divided into complete hem processing (see FIG. 3). When performing complete hemming, it is preferable to move the roller 3 while keeping the applied pressure constant in the applied pressure control mode. When performing incomplete hemming, the rotational position of the electric motor 20 is controlled according to the position control mode. It is preferable to move the roller 3 while keeping the above constant.

  Further, it is preferable that the complete hem processing is performed on the straight portion 14 where the processed portion 12 does not expand and contract along the peripheral edge by processing, and the non-complete hem processing is finished by expanding and contracting the processed portion 12 along the peripheral direction due to processing. It is preferable to apply to the curved portion 15 where the state may be lowered (see FIG. 4). That is, when the complete hemming is performed on the convex curve portion 15a, the processed portion 12 may be compressed in the direction of the peripheral edge, and streaks may be generated. When the complete hemming is performed on the concave curved portion 15b, the processed portion 12 is formed. There is a possibility of breaking in the direction of the periphery. For this reason, it is preferable to perform incomplete hem processing on the curved portion 15.

  Therefore, the control unit 8 executes the pressurizing control mode when the straight portion 14 is subjected to hem processing, and executes the position control mode when the hem processing is performed on the curved portion 15. Then, the control unit 8 switches from the pressure control mode to the position control mode when the three-dimensional position of the roller 3 shifts from the linear portion 14 to the curved portion 15, and the three-dimensional position of the roller 3 changes to the curved portion. When shifting from 15 to the straight line portion 14, the position control mode is switched to the pressure control mode.

When the control mode is switched from the pressure control mode to the position control mode, the control unit 8 fixes the target value θ * of the rotational position based on various procedures.
For example, a numerical value to be fixed for the target value θ * may be stored in the control unit 8 in advance, and the target value θ * may be fixed to the stored numerical value when switching to the position control mode. The numerical value of the detected value θ of the rotational position immediately before switching may be fixed as the target value θ *.

[Effects of Example]
According to the hem processing apparatus 1 of the embodiment, the pressurizing unit 5 applies a pressure to the roller 3 by converting the torque generated by the electric motor 20 into a thrust and applying it to the roller 3. Further, the control unit 8 obtains a command value I * of the current flowing through the electric motor 20 and performs control for making the detected value I of the current detected by the current sensor 6 coincide with the command value I *. And the control part 8 performs the pressurization control mode which calculates | requires command value I * according to the target value F * of pressurization.

Thereby, the hem processing apparatus 1 can solve the problem relating to the mechanical deflection of the robot 4 by acting as follows.
First, when a pressing force is applied from the pressure unit 5 to the workpiece 2 via the roller 3, a repulsive force acts on the robot 4 from the workpiece 2 via the roller 3 and the pressing unit 5 as a reaction force of the pressing force. As a result, the robot 4 tries to escape in the direction opposite to the applied pressure, so that the robot 4 starts to be mechanically bent. For this reason, since the pressurizing force applied to the workpiece 2 decreases, the current detection value I by the current sensor 6 decreases. On the other hand, the control unit 8 operates to immediately increase the detection value I in order to make the detection value I coincide with the command value I *, so that the pressure is increased.

  A series of feedback operations from the occurrence of bending to the increase of the applied pressure is based on the current detection value I by the current sensor 6 and is extremely responsive. That is, instead of detecting and feeding back the amount of bending and the applied pressure in the robot 4, it is possible to output a command for increasing the applied pressure very early by detecting and feeding back the current of the electric motor 20. . For this reason, mechanical bending is eliminated at an early stage, and the applied pressure is kept constant.

As described above, in the hem processing apparatus 1, problems related to mechanical bending of the robot 4 can be solved. That is, since the mechanical deflection of the robot 4 can be eliminated at an early stage by high-speed feedback based on the detection value I of the current sensor 6, the moving speed of the roller 3 is increased without reducing the quality of the edge shape. The operating range of the robot 4 can be expanded. For this reason, while being able to shorten a processing cycle, the moving apparatus conventionally required can be abolished and apparatus cost can be reduced.
Since the applied pressure can be operated steplessly in accordance with the current value, the finishing state after the hem processing can be freely changed by changing the target value F * of the applied pressure.

Moreover, the control part 8 performs a pressurization control mode, when performing complete hem processing.
The problem related to the mechanical deflection of the robot 4 is particularly noticeable when complete hemming is performed. Therefore, by executing the pressure control mode when performing complete hemming, it is possible to effectively obtain the effect of eliminating the problem related to the mechanical deflection of the robot 4.

Further, the control unit 8 fixes the target value θ * of the rotational position, and obtains a current command value I * so that the detected value θ by the position sensor 7 matches the fixed target value θ *. Execute.
Thereby, the finishing state after hem processing can be controlled without controlling the pressing force. For this reason, the finishing state which can respond can be increased by adding the variation of control mode.

Moreover, the control part 8 performs position control mode, when performing the incomplete hem processing whose angle width | variety by which the to-be-processed part 12 of the workpiece | work 2 is turned back is 5 degrees or more and less than 180 degrees.
When the pressurization control mode is executed when performing non-complete hem machining, the pressurization is maintained regardless of the target finishing state (that is, the folded angle width is set to 5 ° or more and less than 180 °). Since control is performed, it becomes difficult to perform non-complete hem processing. Therefore, a target finishing state can be obtained by executing the position control mode when performing incomplete hem machining.

Further, the control unit 8 selectively uses the pressure control mode and the position control mode according to the three-dimensional position of the roller 3.
Thereby, hemming can be continuously performed on the workpiece 2 having a part suitable for the pressure control mode and a part suitable for the position control mode without interruption in time.

Further, the hem processing device 1 performs hem processing on the straight line portion 14 in which the edge shape after the hem processing is a straight line by the pressure control mode, and on the curved portion 15 in which the edge shape after the hem processing is a curve. Hem processing is performed by the position control mode.
When the complete hem processing is performed on the curved portion 15, streaks or breakage may occur due to compression or expansion of the metal. Therefore, by using the pressure control mode for the straight portion 14 and using the position control mode for the curved portion 15, the occurrence of streaks and breakage in the curved portion 15 is prevented while maintaining high quality in the straight portion 14. be able to.

Further, the controller 8 switches from the pressure control mode to the position control mode when the three-dimensional position of the roller 3 shifts from the straight line portion 14 to the curved portion 15, and the three-dimensional position of the roller 3 changes to the curved portion. When shifting from 15 to the straight line portion 14, the position control mode is switched to the pressure control mode.
Thereby, hemming can be continuously performed on the workpiece 2 in which the linear portion 14 and the curved portion 15 are continuous without being temporally interrupted.

In addition, an Example discloses a specific example, and it cannot be overemphasized that this invention is not limited to an Example.
For example, the electric motor 20 of the embodiment has a well-known brushless structure including a three-phase coil and a permanent magnet. However, a DC motor having a brush and a commutator is adopted as the electric motor 20. Also good.

DESCRIPTION OF SYMBOLS 1 Hem processing apparatus 2 Workpiece | work (plate-shaped material) 3 Roller 4 Robot (articulated robot) 5 Pressurization part 6 Current sensor 8 Control part 20 Electric motor F * Target value (target value of applied pressure) I Detected value (current Detection value) I * command value (current command value)

Claims (7)

In the hem processing apparatus (1) for performing hem processing on the metal plate-like material (2),
A roller (3) that rolls while applying a pressure to the plate-like material (2) and applying hem processing;
An articulated robot (4) that holds the roller (3) and is controlled so that the roller (3) is displaced three-dimensionally;
A pressure unit (5) that applies torque to the roller (3) by converting the torque generated by the electric motor (20) into thrust and applying it to the roller (3);
A current sensor (6) for detecting a current flowing through the electric motor (20);
The command value (I *) of the current flowing through the electric motor (20) is obtained, and the detected value (I) of the current detected by the current sensor (6) is matched with the command value (I *) of the current. A control unit (8) for controlling,
Hem machining apparatus (a control mode executed by the control unit (8)), and a pressurizing control mode for obtaining a command value (I *) of the current according to the target value (F *) of the pressurizing force ( 1). In the hem processing device (1) according to claim 1,
The control section (8) executes the pressurizing control mode when performing a complete hemming process in which the processed part (12) of the plate-like material (2) is turned 180 °. Device (1). In the hem processing device (1) according to claim 1 or 2,
A position sensor (7) for detecting the rotational position of the electric motor (20);
This is a control mode executed by the control unit (8). The target value (θ *) of the rotational position is fixed, and a detected value (7) by the position sensor (7) is set to the fixed target value (θ *). and a position control mode for obtaining a command value (I *) of the current so that θ) coincides. In the hem processing apparatus (1) according to claim 1 to 3,
The control unit (8) is configured to perform the position control mode when performing non-complete hem processing in which the angle width at which the processed portion (12) of the plate-like material (2) is folded is 5 ° or more and less than 180 °. A hem processing apparatus (1) characterized in that In the hem processing device (1) according to claim 3 or 4,
The hem processing apparatus (1), wherein the controller (8) selectively uses the pressure control mode and the position control mode according to a three-dimensional position of the roller (3). The hem processing device (1) according to claim 5,
For the straight part (14) in which the edge shape after hem processing is a straight line, hem processing is performed by the pressure control mode,
A hem processing apparatus (1) characterized in that hem processing is performed in the position control mode on a curved portion (15) having a curved edge shape after hem processing. The hem processing device (1) according to claim 6,
The control unit (8) switches from the pressure control mode to the position control mode when the three-dimensional position of the roller (3) shifts from the linear part (14) to the curved part (15). The hem processing is characterized in that the position control mode is switched to the pressure control mode when the three-dimensional position of the roller (3) shifts from the curved portion (15) to the linear portion (14). Device (1).

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