JP2018043289A - Roller hemming device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent axis deviation of a pair of rollers when a return part is formed at circumference of a work-piece by narrow pressure of the rollers to be capable of suppressing occurrence of product failure.SOLUTION: In a roller hemming device, a receiving roller 23 is supported at the center of a head base part 22 of a roller head part 21 fixed to a wrist shaft 13a of a robot arm 13, and first-third rolling compaction roller parts 31-33 are arranged therearound at even intervals. While a fitting guide groove 45 formed in each of first-third roller body parts 36-38 of the rolling compaction roller parts 31-33 is always fitted to a flange part 23b formed in the receiving roller 23, one of the rolling compaction roller parts 31-33 is made close to the receiving roller 23 to pinch a return part 3a of an outer panel 3 so that hemming processing is performed over the whole return part 3a, in which the fitting guide groove 45 is always fitted to the flange part 23b to be capable of maintaining an axial parallel state therebetween.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a roller hemming device that performs a hemming process by sandwiching a folded portion formed on a work panel between a roller receiving surface provided on a receiving roller and a roller pressing surface provided on a rolling roller.

  2. Description of the Related Art Conventionally, for door panels and hood panels of vehicles and the like composed of an outer panel and an inner panel, hemming (hem processing) is known in which the outer panel is folded and the inner panel is sandwiched and integrated.

  For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2005-14069), two or one robot body is provided with a first roller body and a second roller body at the tip of an arm, respectively. By pressing and sandwiching the folded portion formed on the periphery of the outer panel and rolling the roller bodies along the folded portion in that state, the folded portion is formed by sandwiching the periphery of the inner panel on the periphery of the outer panel. Thus, a technique for integrating the outer panel and the inner panel is disclosed.

JP 2005-14069 A

  However, in the technique disclosed in this document, since the folded portion is formed by simply sandwiching the folded portion between a pair of roller bodies and rolling it, both roller bodies are supported rotatably. A strong reaction force is always applied to the rotating shaft, and the shaft is likely to be displaced. If the rotation shafts of the two roller bodies are displaced, the folded portion is not correctly bent, and there is a disadvantage that a defective product is caused due to insufficient bending or wrinkles.

  In view of the above circumstances, the present invention prevents the rotational axis of both roller bodies from being misaligned and causes product defects when forming the folded portion on the periphery of the work by sandwiching and rolling between the pair of roller bodies. It is an object of the present invention to provide a roller hemming device that can suppress the above-described problem.

  The present invention provides a receiving roller having a roller receiving surface, a pressure roller having a roller pressure surface, a base portion that rotatably supports both rollers in an axially parallel state, and the pressure roller as the receiving roller. The base portion is folded in a state in which the folding portion formed at the edge of the work panel is narrowly pressed by the slide mechanism that moves close to and away from each other in an axially parallel state with the roller receiving surface and the roller pressing surface. In the roller hemming device having a moving means for moving along the axis, a flange portion is provided in one axial direction of the receiving roller and the pressure roller, and is fitted to the flange portion in the other axial direction. A guide groove is provided, and the rolling roller and the receiving roller are separated from each other in a state where the flange portion and the guide groove are always fitted.

  According to the present invention, the flange portion is provided in one axial circumferential direction of the receiving roller having the roller receiving surface and the rolling roller having the roller pressurizing surface inclined in a predetermined manner, and is fitted to the flange portion in the other axial circumferential direction. Since the guide groove to be fitted is provided and the flange portion and the guide groove are always fitted, when the hemming process is performed by pressing the folded portion of the work panel between the roller receiving surface and the roller pressure surface, Since the axial deviation with the rolling roller is prevented and the axial parallel state is always maintained, the folded portion can be bent with high accuracy and the occurrence of product defects can be suppressed.

Schematic of the body construction according to the first embodiment and a roller hemming device for hemming the wheel arch portion of the body construction. Configuration diagram of the roller hemming device (A) is a front view of the roller head portion in a standby state, and (b) is a front view of the roller head portion during hemming. Side view of the main part of the roller head Same side view of FIG. 3 (b) as seen from arrow V Same side view as seen from arrow VI in FIG. The roller head part is shown, (a) is a main part side view showing a proximity state of the first roller main body, (b) is a main part side view showing a temporary bending state by the first roller main body, and (c) is a first side view. The principal part side view which shows the proximity | contact state of 2 roller main bodies, (d) is a principal part side view which shows the proximity | contact state of a 3rd roller main body. FIG. 3B is a side view taken along the line VIII in FIG. 3B, showing a state where the folded portion formed by the third roller body is bent. Side view equivalent to FIG. 4 according to the second embodiment FIG. 7 is a side view corresponding to FIG. 7 according to the third embodiment of the present invention. Same side view as FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[First Embodiment]
1 to 8 show a first embodiment of the present invention. In the following, a case where hemming is performed on the rear wheel arch portion 2a formed on the rear quarter panel 2 provided in the body construction (hereinafter abbreviated as “bodycon”) 1 will be described as an example.

  As shown in FIG. 1, a roller hemming device 11 is installed in a preset hemming work area. This hemming work area is provided in the middle of a production line for assembling and processing vehicles.

  The rear quarter panel 2 of the bodycon 1 has an outer panel 3 as a first work panel and an inner panel 4 as a second work panel, and both the panels 3 and 4 are joined together by spot welding or the like. Has been. At the end edge of the outer panel 3, a folded portion 3a is formed along the shape of the rear wheel arch portion 2a. As shown in FIG. 7 (a), the folded portion 3a before hemming is formed by bending at approximately 90 ° in sheet metal pressing, and the edge of the inner panel 4 joined to the inner surface of the outer panel 3 is It faces the inner surface base of the folded portion 3a.

  The roller hemming device 11 hemmes the folded portion 3a formed on the outer panel 3 along the shape of the rear wheel arch portion 2a. The roller hemming device 11 includes a hemming robot 11a as a moving means and a roller head portion 21. Have. The hemming robot 11a is an articulated robot. As shown in FIGS. 1 and 2, the main body base 14 of the robot arm 13 is pivotably fixed to a robot base 12 installed in a preset hemming work area. Has been. The roller head portion 21 is fixed to the wrist shaft 13 a of the robot arm 13.

  The head base portion 22 of the roller head portion 21 is fixed to the wrist shaft 13 a of the robot arm 13. As shown in FIG. 3A, the head base portion 22 is formed in a circular shape, and a receiving roller 23 is disposed at the center thereof. Further, as shown in FIG. 4, the shaft portion 23a of the receiving roller 23 is pivotably supported by the shaft support portion 22a protruding on the head base portion 22 in a state in which movement in the axial direction is restricted. The shaft 23a is connected to the first electric motor 25a through a first reduction mechanism 24a having a preset reduction ratio.

  Further, a disc-shaped flange portion 23b extending in the direction orthogonal to the axis is formed on the shaft circumference of the receiving roller 23, and a cylindrical roller receiving surface 23c is formed on the upper surface of the flange portion 23b. The roller receiving surface 23c functions as a receiving surface when the folded portion 3a of the outer panel 3 is bent by first to third roller pressing surfaces 36a to 38a described later. A stepped portion 23d having a predetermined height is formed in a flange shape on the roller receiving surface 23c, and an R receiving surface 23e is formed on the upper surface of the stepped portion 23d. An R end portion 3b formed when the folded portion 3a of the outer panel 3 is bent comes into contact with the R receiving surface 23e.

  Further, as shown in FIG. 3A, first to third rolling roller portions 31 to 33 are arranged at equal intervals on the outer periphery of the head base portion 22 around the receiving roller 23, and the receiving roller 23 and the individual rolling roller portions 31 to 33 constitute a processing roller pair. The first to third pressure roller portions 31 to 33 have first to third roller bodies 36 to 38 as pressure rollers, respectively, and the first to third roller members are added to the roller bodies 36 to 38, respectively. The pressure surfaces 36a to 38a are formed. Here, the first roller body 36 corresponds to the temporary bending compaction roller of the present invention, and the third roller body 38 corresponds to the regular bending compaction roller of the present invention.

  As shown in FIG. 7, the roller pressing surfaces 36a to 38a have different inclination angles, and the folded portions 3a are bent at predetermined bending angles θ1 to θ3 by the roller pressing surfaces 36a to 38a. . In the present embodiment, the inclination angles of the first to third roller pressure surfaces 36a to 38a are set to 45 °, 60 °, and 90 ° (an angle parallel to the roller receiving surface 23c), whereby the folded portion 3a. Are bent at θ1 = 45 °, θ2 = 30 °, and θ3 = 0 ° with respect to the roller receiving surface 23c.

  The configurations of the rolling roller portions 31 to 33 are common except for the inclination angles of the roller pressing surfaces 36a to 38a formed on the roller bodies 36 to 38. Therefore, in the following, the configuration of the third pressure roller unit 33 will be described as a representative, and the configuration of the first and second pressure roller units 31 and 32 will be applied mutatis mutandis to the third pressure roller unit 33. The same reference numerals are given to the components and the description thereof is omitted.

  The third roller unit 33 (first roller unit 31 and second roller unit 32) includes a guide board 41, a slider 42, and a third roller body 38 (first roller body 36 and second roller body 37). The guide panel 41 is fixed on the head base portion 22. The slider 42 is slidably mounted on the guide board 41, and is supported so as to be close to and away from the rotation center of the receiving roller 23 along a normal direction via a guide mechanism (not shown). Further, a vertical surface 42 a is formed at an end portion of the slider 42 located in the outer diameter direction of the head base portion 22. The tip of a rod 46a protruding from the slide mechanism 46 is fixed to the vertical surface 42a.

  The slide mechanism 46 slides the slider 42 along the normal direction with respect to the rotation center of the receiving roller 23, and the cylinder portion 46 b is fixed to the support frame 22 b formed on the outer peripheral edge of the head base portion 22. Has been. A piston 46c is slidably inserted into the cylinder portion 46b, and a rear end of the rod 46a is fixed to the piston 46c. The piston 46c is operated by hydraulic pressure supplied to and discharged from each hydraulic chamber partitioned by the piston 46c in the cylinder portion 46b from a hydraulic circuit (not shown), and moves the rod 46a forward and backward in the normal direction.

  Further, a shaft support portion 43 projects from the slider 42, and the shaft portion 44 of the roller body 36 is pivotally supported by the shaft support portion 43 so as to be rotatable. Further, a second electric motor 25b is mounted on the slider 42 via a second reduction mechanism 24b having a predetermined reduction ratio, and the second reduction mechanism 24b is connected to the roller body 36.

  Further, a fitting guide groove 45 opening in the direction perpendicular to the axis is formed on the lower shaft periphery of the roller body 38, and a third roller pressing surface 38a is formed on the upper portion. Further, a tapered relief portion 47 is formed at the lower end of the third roller pressing surface 38a so as to reduce the diameter in the direction of the fitting guide groove 45 and avoid interference with the step portion 23d.

  The fitting guide groove 45 is always fitted to the outer edge of the flange portion 23b formed in the receiving roller 23 in a slidable state. The groove width of the fitting guide groove 45 is formed so as to be slidable with no play with respect to the plate thickness of the flange portion 23b.

  The roller hemming device 11 is operated by a control signal from the robot control unit 51. The robot control unit 51 is mainly configured by a known microcomputer including a CPU, a RAM, a ROM, and the like, and the CPU executes various controls according to a program stored in the ROM.

  Next, the control operation by the robot controller 51 of the roller hemming device 11 having such a configuration will be described.

  When the bodycon 1 is transported to the hemming work area, the robot control unit 51 is provided with a roller head portion 21 fixed to the wrist shaft 13a of the hemming robot 11a with respect to the rear wheel arch portion 2a of the rear quarter panel 2. To face. The folded-back portion 3a of the outer panel 3 constituting the rear quarter panel 2 is bent and formed approximately 90 ° inward along the rear wheel arch portion 2a during sheet metal pressing.

  As shown in FIG. 3A, the first to third roller compactors 31 to 33 provided in the roller head unit 21 in the standby state are moved from the receiving roller 23 by the operation of each slide mechanism 46. It is moved in the separating direction, that is, in the diameter increasing direction. In this state, the roller receiving surface 23c of the receiving roller 23 and the roller pressing surfaces 36a to 38a of the roller bodies 36 to 38 provided on the respective rolling roller portions 31 to 33 are spaced apart from each other by a predetermined distance.

  Even in the standby state, the fitting guide groove 45 formed in each of the roller bodies 36 to 38 and the flange portion 23b formed in the receiving roller 23 are always in a fitted state. In the present embodiment, when the folded portion 3a is bent at a bending angle θ3 = 0 ° (see FIG. 8), the first to third roller bodies 36 to 38 are used in this order to perform temporary bending to main bending. Bending is formed step by step.

<Temporary bending process>
In accordance with a preset program, the robot control unit 51 first raises the roller head unit 21 from below as shown in FIG. 1 to form a roller receiving surface 23c and a roller pressing surface 36a of the first roller body 36. The folded portion 3a is loosely inserted between the two. As shown in FIG. 7A, the roller receiving surface 23c is brought into contact with the outer surface of the outer panel 3, and the R end portion 3b of the outer panel 3 is formed at the base portion of the roller receiving surface 23c. It is brought into contact with the upper R receiving surface 23e.

  Thereafter, the robot control unit 51 operates the slide mechanism 46 of the first rolling roller unit 31 to move the slider 42 that supports the first roller body 36 in the axial direction of the roller 23. Then, since the first roller main body 36 is fitted in the flange portion 23 b formed in the receiving roller 23 with the fitting guide groove 45, the first roller main body 36 is guided by the flange portion 23 b and The portion 44 is brought close to the shaft portion 23a of the receiving roller 23 while maintaining an axially parallel state on the same plane.

  And the lower end edge part of the roller pressurization surface 36a of the 1st roller main body 36 contacts the edge part of the folding | turning part 3a. At this time, since the folded portion 3a floats from the flange portion 23b by the height of the step portion 23d, the lower end edge of the roller pressing surface 36a enters the gap, and the roller pressing surface 36a moves along with the movement. The folded portion 3a is gradually scooped up along the inclination of the roller pressing surface 36a and bent.

  Further, since the R end portion 3b of the folded portion 3a is in contact with the R receiving surface 23e formed on the upper surface of the stepped portion 23d, the lower end portion of the roller pressing surface 36a is caused to enter the vicinity of the R end portion 3b. The folded portion 3a can be bent from the vicinity of the R end portion 3b. Further, since the fitting guide groove 45 of the first roller main body 36 is supported by the flange portion 23b of the receiving roller 23, the first roller main body 36 is not axially displaced with respect to the receiving roller 23 and is always axially parallel. Therefore, the folded portion 3a can be bent with high accuracy and reliability.

  When the relief portion 47 formed at the lower end of the roller pressing surface 36a approaches the step portion 23d, the folded portion 3a is pressed against the entire roller pressing surface 36a, and the initial bending by the first roller body 36 is completed ( FIG. 7 (b) state).

  Next, the robot control unit 51 rotates the receiving roller 23 and the first roller body 36 in the same direction at the same speed by driving the electric motors 25a and 25b. At the same time, the robot arm 13 moves the roller head portion 21 from one end of the rear wheel arch portion 2a toward the other end along the shape of the rear wheel arch portion 2a. As a result, due to the rolling of the receiving roller 23 and the first roller main body 36, the turn-up portion 3a is bent at a bending angle θ1 (= 45 °) over the entire rear wheel arch portion 2a, thereby causing temporary bending. Is completed.

  When bending the folded portion 3a over the entire rear wheel arch portion 2a, the fitting guide groove 45 of the first roller body 36 is always fitted to the flange portion 23b of the receiving roller 23, so that the shaft deviation is prevented. The axially parallel state can always be maintained, and the folded portion 3a can be bent and raised with high accuracy from the vicinity of the R end portion 3b over the entire rear wheel arch portion 2a.

  Thereafter, the robot control unit 51 operates the slide mechanism 46 of the first rolling roller unit 31 to retract the slider 42, returns the first roller body 36 to the initial position, and moves the roller head unit 21 to the rear wheel arch 2a. Once away from.

<Intermediate bending process>
Next, the robot control section 51 rotates the wrist shaft 13a of the robot arm 13 so that the second rolling roller section 32 provided on the head base section 22 faces the inner surface side of the rear wheel arch section 2a, and the roller receiving surface. The temporarily folded folded portion 3a is loosely inserted between the roller 23c and the roller pressing surface 37a of the second roller body 37. Then, the roller receiving surface 23c is brought into contact with the outer surface of the outer panel 3, and the R end portion 3b of the outer panel 3 is brought into contact with the R receiving surface 23e on the upper surface of the step portion 23d.

  Thereafter, the robot control unit 51 moves the slider 42 that supports the second roller body 37 in the axial direction of the roller 23 by the same procedure as the operation of the first rolling roller unit 31 described above. Also in this case, the second roller main body 37 is fitted to the flange portion 23 b formed in the receiving roller 23 with the fitting guide groove 45, so that the shaft portion 44 of the second roller main body 37 is connected to the receiving roller 23. The shaft portion 23a is approached while maintaining an axially parallel state on the same plane.

  A part of the roller pressure surface 37a of the second roller body 37 abuts on the folded portion 3a, and the folded portion 3a is gradually bent and raised as the second roller body 37 moves. Thereafter, when the relief portion 47 formed at the lower end of the roller pressure surface 37a approaches the step portion 23d, the folded portion 3a is pushed and bent along the roller pressure surface 37a, and the initial intermediate bending by the second roller body 37 is performed. Completed (state shown in FIG. 7C).

  Next, the robot controller 51 rotates the receiving roller 23 and the second roller body 37 in the same direction at the same speed by driving the electric motors 25a and 25b. At the same time, the robot arm 13 moves the roller head portion 21 from one end of the rear wheel arch portion 2a toward the other end along the shape of the rear wheel arch portion 2a, and the turn-up portion 3a is moved between the receiving roller 23 and the second roller body. 37, the entire rear wheel arch portion 2a is bent at a bending angle θ2 (= 30 °) to complete intermediate bending.

  Also in this case, since the folded portion 3a is lifted from the flange portion 23b by the height of the step portion 23d as in the above-described provisional bending step, the R end portion is formed on the roller pressing surface 37a of the second roller body 37. Bending can be reliably caused from around 3b. In addition, since the fitting guide groove 45 of the second roller body 37 is always supported by the flange portion 23b of the receiving roller 23, no axial deviation occurs, and the folded portion 3a can be bent with high accuracy.

  Thereafter, the robot control unit 51 operates the slide mechanism 46 of the second rolling roller unit 32 to retract the slider 42 to return the second roller body 37 to the initial position, and to move the roller head unit 21 to the rear wheel arch unit. Once separated from 2a.

<Main bending process>
Thereafter, the robot control unit 51 rotates the wrist shaft 13a of the robot arm 13 again so that the third rolling roller unit 33 faces the inner surface side of the rear wheel arch unit 2a, and the roller receiving surface 23c and the third roller body. The folding | returning part 3a currently formed by intermediate | middle bending is loosely inserted between 38 roller pressurization surfaces 38a. Then, the roller receiving surface 23c is brought into contact with the outer surface of the outer panel 3, and the R end portion 3b of the outer panel 3 is brought into contact with the R receiving surface 23e on the upper surface of the step portion 23d.

  Next, the robot controller 51 moves the slider 42 that supports the third roller body 38 in the axial direction of the roller 23. Also in this case, the third roller main body 38 is fitted to the flange portion 23 b formed in the receiving roller 23 with the fitting guide groove 45, so that the shaft portion 44 of the third roller main body 38 is connected to the receiving roller 23. It is brought close to the shaft portion 23a while maintaining an axially parallel state on the same plane (state shown in FIG. 7D).

  Then, the roller pressing surface 38a of the third roller body 38 comes into contact with a part of the folded portion 3a, and the folded portion 3a is bent and raised as the third roller body 38 moves. Thereafter, when the relief portion 47 formed at the lower end of the roller pressing surface 38a approaches the stepped portion 23d, the folded portion 3a is pressed against the roller receiving surface 23c while the inner panel 4 is sandwiched by the roller pressing surface 38a. The portion 3a is pressed along the entire roller pressure surface 38a and folded back, and the initial main bending by the third roller body 38 is completed (state shown in FIG. 8).

  Next, the robot controller 51 rotates the receiving roller 23 and the third roller body 38 in the same direction at the same speed by driving the electric motors 25a and 25b. At the same time, the robot arm 13 is driven to move the roller head portion 21 from one end of the rear wheel arch portion 2a toward the other end along the shape of the rear wheel arch portion 2a. Then, due to the rolling of the receiving roller 23 and the third roller body 38 in a narrow pressure state, the folded portion 3a is folded back to the bending angle θ3 (= 0 °) over the entire rear wheel arch portion 2a, and the outer panel 3 The main bending is completed with the inner panel 4 sandwiched therebetween.

  Also in this case, since the folded portion 3a floats from the flange portion 23b by the height of the stepped portion 23d, the folded portion 3a is moved from the vicinity of the R end portion 3b on the roller pressing surface 38a of the third roller body 38. It can be folded back reliably. Further, since the fitting guide groove 45 of the third roller body 38 is always supported by the flange portion 23b of the receiving roller 23, the folded portion 3a can be folded back with high accuracy.

  Thereafter, the robot control unit 51 retracts the slider 42 by the operation of the slide mechanism 46 of the third rolling roller unit 33, returns the third roller body 38 to the initial position, and moves the roller head unit 21 to the rear wheel arch unit 2a. The robot arm 13 is returned to the standby position, and waits until a new bodycon 1 is conveyed.

  Thus, in this embodiment, the roller head portion 21 is attached to the robot arm 13 of one hemming robot 11a, the receiving roller 23 is provided at the center of the roller head portion 21, and a plurality of (this embodiment) Then, the three rolling roller portions 31 to 33 are disposed, and the rolling guide roller portions 31 to 33 are formed with fitting guide grooves 45 that are always fitted to the flange portion 23b formed on the receiving roller 23. Since the rolling rollers 31 to 33 can be brought close to each other and rolled while being supported by the receiving roller 23, the axial displacement is prevented, the axially parallel state is always maintained, and the folded portion 3a is bent accurately. can do. As a result, not only high quality can be obtained, but also the occurrence of product defects can be suppressed.

  In addition, since the fitting guide groove 45 of each of the pressure roller portions 31 to 33 is always fitted to the flange portion 23b of the receiving roller 23, shaft blurring is difficult even when hemming is performed at high speed, and production by increasing the speed is performed. It is possible to improve the performance.

  Further, since the plurality of rolling roller portions 31 to 33 are disposed in one roller head portion 21, when the folding portion 3a is bent and raised stepwise as in the present embodiment, the roller main bodies 36 to 38 are moved. There is no need to reassemble the robot arm 13 and the selection can be made simply by rotating the wrist shaft 13a of the robot arm 13. Therefore, the setup can be facilitated and the manufacturing man-hour can be greatly reduced.

[Second Embodiment]
FIG. 9 shows a second embodiment of the present invention. The head base portion 22 according to the first embodiment described above supports the roller body 38 (36, 37) of the rolling roller portion 33 (31, 32) on the slider 42 as shown in FIG. By sliding, the roller body 38 (36, 37) is moved closer to and away from the receiving roller 23 along the normal direction.

  On the other hand, the rolling roller unit 61 of the head base unit 52 of the present embodiment supports the roller body 38 (36, 37) on a frame 71 formed in a U-shape, and the frame 71 is connected to the roller. The main body 38 (36, 37) is supported by a rod 46a of a slide mechanism 46 disposed at a position in the normal direction substantially opposite to the receiving roller 23.

  According to the present embodiment, the slide mechanism 46 can be moved back and forth from the direction facing the receiving roller 23 with respect to the frame body 71, so that the shaft portion of the roller main body 38 (36, 37) compared to the first embodiment. It is difficult for a bending moment to be generated in 44, and shaft blurring during hemming can be effectively prevented.

[Third Embodiment]
10 and 11 show a third embodiment of the present invention. This embodiment is a modification of the first embodiment described above. In the first embodiment, the R end 3b of the outer panel 3 is processed into a flat hem shape folded back from the end, but in this embodiment, the bending radius of the R end 3b is increased so that the inside is a hollow closed cross section. Circle hem (also referred to as “rope hem”). Note that the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is simplified or omitted.

  The R end 3b of the outer panel 3 of the present embodiment is bent in advance with a relatively large radius. Further, an R guide surface 23 f having a radius of curvature that abuts on the surface of the R end portion 3 b of the outer panel 3 is formed at the base portion of the receiving roller 23.

  On the other hand, a third hem roller roller for circle hem (hereinafter abbreviated as “third roller roller body”) 38 ′ is a third roller body 38 constituting the third roller roller portion 33 of the first embodiment. Apply instead.

  The third rolling roller body 38 'has a circle hem escape portion 38b' formed below the third roller pressure surface 38a '. The circle hem escape portion 38 b ′ allows the circle-shaped curved surface portion 3 c formed on the inner edge of the outer panel 3 to bulge.

  In such a configuration, as shown in FIG. 10 (a), the roller receiving surface 23c is brought into contact with the outer surface of the outer panel 3 by the control operation by the robot control unit 51 (see FIG. 2), and at the base thereof. The formed R guide surface 23f is brought into contact with the R end portion 3b of the outer panel 3 which has been subjected to large R bending, and the folded portion 3a is brought into contact with the R receiving surface 23e for positioning.

  Then, similarly to the first embodiment described above, the provisional bending step (see FIG. 10B) and the intermediate bending step (see FIG. 10C) are completed in a predetermined manner.

  Next, the robot control unit 51 performs a main bending process. That is, the robot control unit 51 rotates the wrist shaft 13a of the robot arm 13 so that the third rolling roller unit 33 faces the inner surface side of the rear wheel arch unit 2a, and the roller receiving surface 23c and the third roller body 38. The folded portion 3a formed by intermediate bending is loosely inserted between the roller pressing surface 38a. Then, the roller receiving surface 23c is brought into contact with the outer surface of the outer panel 3, the R end portion 3b is brought into contact with the R guide surface 23f, and the folded portion 3a is brought into contact with the R receiving surface 23e for positioning.

  Next, the robot controller 51 receives the shaft portion 44 of the third roller body 38 ′ and brings it close to the shaft portion 23a of the roller 23 (the state shown in FIG. 10D), and the roller pressing surface 38a of the third roller body 38 ′. 'Is brought into contact with the folded portion 3a. And when it comes closer to the receiving roller 23, the folded portion 3a is further bent. At this time, since the circle hem escape portion 38b ′ is formed in the lower portion of the third roller body 38 ′, the base side of the folded portion 3a is allowed to bulge inward (in the direction of the circle hem escape portion 38b ′). A hollow cross section is formed inside.

  Then, as shown in FIG. 11, when the folded portion 3a is pressed against the roller receiving surface 23c with the roller pressing surface 38a 'sandwiching the inner panel 4, and the folded portion 3a is folded, the edge of the outer panel 3 In the curved surface portion 3c bulging inwardly, a circle hem having a hollow closed cross section is formed inside, thereby completing the initial main bending.

  Next, the robot controller 51 rotates the receiving roller 23 and the third roller body 38 in the same direction at the same speed by driving the electric motors 25a and 25b. At the same time, the robot arm 13 is driven to move the roller head portion 21 from one end of the rear wheel arch portion 2a toward the other end along the shape of the rear wheel arch portion 2a. Then, due to rolling of the receiving roller 23 and the third roller main body 38 'in a narrow pressure state, the folded portion 3a is folded back to the bending angle θ3 (= 0 °) over the entire rear wheel arch portion 2a, and the inner panel. A circle hem is formed by the curved surface portion 3c sandwiching 4 and bulging inward, thereby completing the main bending.

  Note that the present invention is not limited to the above-described embodiments. For example, the rolling roller portion may be one, two, or four or more around the roller head portion 21 with respect to the head base portion 22. They may be arranged at equal intervals. For example, when the folded portion 3a is previously bent into a V shape by sheet metal pressing, the roller pressing surfaces 37a, 38a of the second and third roller bodies 37, 38 or the roller pressing surface 38a of the third roller body 38 are used. Only by this, it is possible to perform the main bending process of turning the folded portion 3a back to the bending angle θ3 (= 0 °), so that two or one roller head portion 21 can be used.

  Further, the bending angles θ1 to θ3 of the folded portion 3a formed by bending by the roller pressing surfaces 36a to 38a (38a ′) of the roller bodies 36 to 38 are examples, and other combinations of bending angles may be used. . Further, the fitting guide groove 45 may be formed in the receiving roller 23, and the flange portion 23b fitted therein may be formed in the roller main bodies 36 to 38 (38 '). The power source of the slide mechanism 46 is not limited to hydraulic pressure, and may be air pressure, gas pressure, or the like.

  Further, the receiving roller 23 and the first to third roller bodies 36 to 38 (38 ′) are configured to freely rotate without the electric motors 25a and 25b and the speed reduction mechanisms 24a and 24b, and are subjected to hemming processing. It may be configured to roll with the movement of the robot arm 13 at that time.

1 ... Body construction
2 ... Rear water panel,
2a ... Rear wheel arch,
3 ... Outer panel,
3a ... turn-up part,
3b ... R end,
3c ... Circle-shaped curved surface,
4 ... Inner panel,
11 ... roller hemming device,
11a ... Hemming robot,
12 ... Robot stand,
13 ... Robot arm,
13a ... wrist axis,
14 ... Main body base,
21 ... Roller head,
22, 52 ... head base,
22a ... shaft support,
22b ... support frame,
23. Receiving roller,
23a ... shaft part,
23b ... flange part,
23c ... Roller receiving surface,
23d: a step,
23e ... R receiving surface,
23f ... R guide surface,
31-33 ... 1st-3rd compaction roller part,
36-38 (38 ') ... 1st-3rd roller main body,
36a-38a (38a ') ... 1st-3rd roller pressurization surface,
38b '... Circle hem escape,
41 ... Guide board,
42 ... slider,
42a ... vertical surface,
43 ... shaft support,
44 ... shaft part,
45 ... fitting guide groove,
46 ... slide mechanism,
47 ... Escape part,
51. Robot controller,
61: Rolling roller part,
71 ... frame,
θ1 to θ3: 1st to 3rd bending angles

Claims (5)

A receiving roller having a roller receiving surface;
A rolling roller having a roller pressing surface;
A base portion that rotatably supports both rollers in an axially parallel state;
A slide mechanism for approaching and separating the rolling roller in an axially parallel state with respect to the receiving roller;
In a roller hemming device comprising: a moving means for moving the base portion along the folded portion in a state where the folded portion formed at the edge of the work panel is narrowly pressed by the roller receiving surface and the roller pressing surface. ,
A flange portion is provided in one axial circumferential direction of the receiving roller and the rolling roller, and a guide groove fitted to the flange portion is provided in the other axial circumferential direction,
The roller hemming device according to claim 1, wherein the rolling roller and the receiving roller are closely spaced from each other in a state in which the flange portion and the guide groove are always fitted. The receiving roller has a stepped portion having a predetermined height at the base of the roller receiving surface,
The roller hemming device according to claim 1, wherein a receiving surface that abuts the base portion of the folded portion is formed on an upper surface of the stepped portion. In the base portion, a plurality of the rolling rollers are disposed around the receiving roller, with the receiving roller as a center.
The roller hemming device according to claim 1 or 2, wherein each of the pressure rollers is selectively approached and separated from the receiving roller. The plurality of rolling rollers are composed of at least a temporary bending rolling roller and a main bending rolling roller,
An inclination angle of the roller pressing surface provided in the main bending roller is formed in parallel with the roller receiving surface;
An inclination angle of the roller pressure surface provided in the temporary bending pressure roller is formed smaller than an inclination angle of the roller pressure surface provided in the main bending pressure roller. The roller hemming device according to claim 3. The roller pressing surface provided on the main bending roller is formed with an escape portion that allows formation of a circle hem having a hollow closed cross section in the folded portion of the work panel. Item 5. The roller hemming device according to Item 4.

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