JP2535486B2 - Flanged roller processing method and apparatus used for the method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention bends the outer peripheral portion (hereinafter referred to as "flange portion") of a door outer panel at a constant angle to the inner panel side as a pre-process for hemming performed on a vehicle door panel ( Hereinafter, the present invention relates to a method for processing a flange-forming roller for "flange-forming processing" and an apparatus used for this method.

[0002]

2. Description of the Related Art Conventionally, as a device for performing this type of processing, there has been a press device 50 as shown in FIGS. The pressing device 50 includes a lower mold 51 for mounting a workpiece W such as a door outer panel, and an upper mold 52 movably supported on the lower mold 51.
A pressing die 53 for pressing and fixing the workpiece W to the upper surface of the lower die 51 is attached to the upper die 52 via spring members 54 to 54.

Further, as shown in the figure, the upper mold 52 is formed with an open-and-closed squeegee portion 52a on the lower end side.
The flange portion W _E of the work material W is gradually bent by the squeeze portion 52a as the lower end of the
_{The E} is bent almost at a right angle and the flange is machined.

The press device 50 is suitable for performing flange stand-up processing on mass-produced products, and is characterized by ensuring stable quality and high productivity.

[0005] For small-scale products such as prototypes,
Flanging may be performed manually without using the pressing device 50. In this case, the workpiece W is placed on the die 60 as shown in FIG. The worker presses the presser foot 62 to fix the flange W _E while hitting it with a hammer 61 to bend it.

[0006]

However, although the press device 50 is suitable for mass production,
Since the manufacturing cost of the apparatus 50 is high, it is not suitable for small-quantity production, and it takes a lot of time to manufacture the press apparatus 50 itself, and there is a problem that versatility for changing the shape of the workpiece W is low. .

[0007] In addition, when a flange is machined by hand, there is a problem not only in inefficiency but also in machining accuracy or quality stability, and furthermore, a worker's health is affected by noise or impact applied to his hand. There was a problem harming.

The present invention has been made in view of these problems of the prior art, and it is possible to efficiently and stably perform highly accurate flanging even in the case of small-to-medium production as in the case of mass production. It is an object of the present invention to provide a flange stand roller processing method and an apparatus used for this method, which are capable of achieving the above-mentioned effects and exhibiting excellent effects in terms of health problems for workers or versatility with respect to a work material.

[0009]

According to the first aspect of the present invention, there is provided:
The method of is that the flange part of the work material fixed on the fixed die is
It is sandwiched by a pair of rollers and
One of the pair of rollers is pressed in the axial direction
The material is pressed against the fixed mold, the other is pressed in the radial direction
Press the flange of the work piece against the one roller
Then, fold the shaft center of the pair of rollers with the sandwiched state.
Bend the flange part by tilting it in the bending direction.
Keep the pair of rollers in the bent state along the flange.
It is characterized by moving. Also, claim 2
The equipment is attached to a fixed mold for fixing the work material.
Attached to the robot hand and the tip of this robot hand
And a pair capable of sandwiching the flange portion of the work material
Roller pressurizing unit having a pair of rollers and the pair of rollers.
Bending by inserting the flange of the work piece between the
The two flanks with the rollers in the bent state.
The roller pressing unit so as to move along the
A control means for controlling the operation of the robot hand.
One of the pair of rollers is a pressing hand in the axial direction.
The other is provided with a step, and the other is provided with a pressing means in its radial direction.
And is installed in the roller pressing unit.

[0010]

According to the method of the first aspect or the apparatus of the second aspect , the flanging process is performed as follows. First, after mounting a work material on a fixed die, the work material is fixed by a clamp device. In this state, the flange part where the work piece is flanged is
It is in a state of protruding from the fixed mold in a substantially horizontal direction.

After the work material is set in the fixed mold in this way, the robot hand is operated to sandwich the flange portion of the work material between the pair of rollers. In this sandwiched state
And one of the pair of rollers is located inside the fold.
Pressing the work piece against the fixed mold by being pressed in the axial direction
And the other roller is pressed in the radial direction,
While pressing the flange part of the
The flange portion is sandwiched between both rollers. Then this
The roller is activated by the robot while the
Change the posture of the pressure part and fold the pair of rollers.
Bend the flange part of the work material by tilting in the bending direction
It

After that, the roller is moved along the flange portion of the material to be processed in this bending posture. As a result, the flange of the work piece is positioned inside the bend.
Square of the lower roller bent to sequentially upwardly as bent origin flange freshly processing is given, the robot hand
By controlling the movement trajectory of the
Instead, the flange can be continuously stiffened even for three-dimensional curved surface shapes.
Work is done. Here, one roller is pressed in the axial direction
The workpiece to be pressed against the fixed die and the other roller
Is pressed in the radial direction and the flange is
It is held in a state of being pinched while being pressed against. this thing
The flange gradually moves as the pair of rollers move.
Bending of the work material during the process of being bent into
Fixed area and a pair of rollers make the area around the area always strong
It is held in a restrained state, which causes strain due to bending.
The occurrence of defects is suppressed. In addition, since it is the limit to bend up to about 45 ° with one movement of the roller,
When it is necessary to fold it to a larger angle (for example, a substantially right angle), it becomes possible by repeating the above-mentioned operation a plurality of times.

[0013]

Embodiments of the present invention will be described below with reference to FIGS. As shown in FIG. 1, the flange stand roller processing apparatus 1 of the present example is arranged on a base B so as to face a fixed die 4 for fixing a material to be processed. This device 1 includes a robot hand 2, a roller pressing unit 3 attached to the tip of the robot hand 2, and a pair of rollers 6 and 7 capable of sandwiching a flange portion of a workpiece W by the operation of the roller pressing unit 3. , And a control device (not shown) for controlling these operations.

The robot hand 2 is a conventionally known, for example, a polar coordinate type multi-joint robot, and is configured so that a predetermined operation can be obtained by controlling a plurality of axes by a controller (not shown). The operation of the robot hand 2 is a locus along the flange W _E of the workpiece W to be subjected to the flanging process, and is given by, for example, teaching or by directly inputting a predetermined program to the control device. .

At the tip of the robot hand 2, the above-mentioned one
A roller pressing unit 3 including a pair of rollers 6 and 7 is attached. As shown in FIGS. 2 to 4, the roller pressing unit 3 is roughly composed of a vertical slide unit and a horizontal slide unit attached to the vertical slide unit. Receiving roller "
7), and a large-diameter roller (hereinafter referred to as “pressing roller”) 6 is mounted on the horizontal slide portion.
Here, the receiving roller 7 is described in the claims.
The pressing roller 6 corresponds to the "one roller"
It corresponds to the "other roller". Therefore, slide up and down
Section presses the receiving roller 7 in the axial direction.
Corresponding to the pressure means, the horizontal slide part presses the pressing roller 6
It corresponds to a pressing means for pressing in the radial direction.

A support bracket 12 for a vertical slide portion is attached to the tip of the robot hand 2, and a slide block 8 is supported on the support bracket 12 so as to be vertically slidable. A piston 10 is incorporated between the support bracket 12 and the slide block 8, the piston 10 is fixed to the support bracket 12 side, and a hydraulic chamber 16 is formed between the tip surface of the piston 10 and the slide block 8. Has been done. The hydraulic chamber 16 communicates with a hydraulic port 16a, and a hydraulic source is connected to the hydraulic port 16a via a hydraulic hose and a switching valve (not shown). As a result, when pressure oil is supplied to the hydraulic chamber 16 through the hydraulic port 16a, the slide block 8 slides downward.

Insertion holes 12a, 12a are formed on the upper surface of the support bracket 12, and both insertion holes 12a, 12a are formed.
A support pin 17 is inserted into each of the 12a, and both support pins 17 are screwed into the upper surface of the slide block 8. Both support pins 17 are connected at their upper ends by a base 19, and springs 18 are mounted around the support pins 17 between the base 19 and the upper surface of the support bracket 12, respectively. 8 is biased upward. Therefore, when the hydraulic oil in the hydraulic chamber 16 is drained, the slide block 8
It is adapted to be returned upward by the biasing force of 8.

The receiving roller 7 is rotatably supported on the lower portion of the slide block 8 by bearings 20 and 20. A certain range of the lower end portion of the receiving roller 7 is a portion applied to the inner side surface (upper surface before bending) of the flange portion W _E of the workpiece W, and the diameter of this portion is a corner portion of the workpiece W. It is formed to have a small diameter (about φ10 to φ20) so that the corners after bending are formed at a constant R when bending.

A support base portion 21 is formed so as to project from the lower portion of the slide block 8 to the left in FIG. A horizontal slide portion is attached to the support base portion 21. That is, the slide block 23 is supported on the lower surface of the support base portion 21 so as to be slidable left and right in FIG. 2, and the support bracket 22 is attached to the lower surface of the rear end portion (left end portion in the drawing) of the support base portion 21. ing.

A piston 24 is incorporated between the support bracket 22 and the slide block 23 in the same manner as the vertical slide portion. The piston 24 is fixed to the support bracket 22 side, and a hydraulic chamber 25 is formed between the tip surface of the piston 24 and the slide block 23. The hydraulic chamber 25 communicates with a hydraulic port 25a (see FIG. 4). A hydraulic pressure source is connected to the port 25a via a hydraulic hose and a switching valve (not shown).

As shown in FIG. 4, the support base portion 21 is provided with a support edge 21a extending right and left (upward and downward in the figure) just below the slide block 23 (on the front side in the figure). An overhanging edge 23a is formed on the slide block 23 so as to face 21a. Insertion holes 21b, 21b are formed in the support edge 21a, support pins 26 are slidably inserted in both insertion holes 21b, and both support pins 26 are screwed into the projecting edge 23a of the slide block 23. . Both support pins 26 are fixed by a base 28 between their heads, and springs 27 are mounted around the axes of both support pins 26 between the base 28 and the support edge 21a. . As a result, the slide block 23 is shown in FIG.
Is urged in the direction of returning to the left.

With the above construction, when pressure oil is supplied to the hydraulic chamber 25, the slide block 23 slides to the right in FIG. 2, while when the hydraulic oil in the hydraulic chamber 25 is removed, the slide block 23 urges the spring 27. It is designed to be returned to the left side in the figure.

The slide block 2 supported in this way
The pressing roller 6 is rotatably mounted in parallel with the receiving roller 7 at the tip (right end in FIG. 2) of 3. The pressing roller 6 has a larger diameter (about 40) than the receiving roller 7. The peripheral surface of the pressing roller 6 is a rolling surface that is pressed against the outer surface (the lower surface before bending) of the flange portion W _E of the workpiece W, and is at substantially the same level as the rolling surface of the receiving roller 7. Is adjusted so that When the flange portion W _E is located between the rollers 6 and 7 and pressure oil is supplied to the hydraulic chamber 25, the pressing roller 6 moves forward and presses the flange portion W _E against the receiving roller 7, whereby the flange portion W _{E E} is sandwiched between both rollers 6 and 7.

Next, as shown in FIG. 1, the fixed mold 4 is fixed to the robot hand 2 on the base B at a predetermined interval, and the fixed mold 4 is mounted around the base B. Clamping devices 5 for fixing the material W are arranged at appropriate intervals (see FIG. 8). As shown in FIG. 1, the clamp device 5 is configured such that the clamp arm 5b can be vertically swung by the operation of the cylinder 5a. The clamp arm 5a is swung downward to fix the workpiece W to the fixed die 4 The workpiece W can be unclamped by swinging the clamp arm 5a upward. Further, the operation of the cylinder 5b of each clamp device 5 is interlocked with the operation of the robot hand 2, and when the robot hand 2 approaches the clamp device 5 while performing flange stand processing according to a predetermined trajectory, it is automatically unclamped. Move the clamp arm 5a upwards, so that the clamp arm 5a is moved to the robot hand 2
It does not become an obstacle to the movement of the. When the robot hand 2 passes, the clamp arm 5a is automatically swung downward to clamp the workpiece W.

The workpiece W is, for example, an outer panel of a vehicle door panel, and is left in a state in which the material is pressed and cut. Therefore, the flange portion W _E of the workpiece W is as shown in FIG. As shown in FIG. 9, it has a curved shape with a substantially S-shaped cross section. This S-shape has a flange W
_{When E} is sandwiched between both rollers 6 and 7 and flanged, it is flattened. The upper part of FIG. 9 shows the workpiece W before the flanging process, and the lower part shows the workpiece W'having the same process.

Next, an actual flanging process carried out by using the flanging roller processing device 1 of the present embodiment configured as described above will be described. Workpiece W on the fixed die 4
After mounting, all the clamping devices 5 are once actuated to the clamping side and the workpiece W is positioned and fixed on the fixed die 4. In this fixed state, the flange portion W _E of the workpiece W is in a state of protruding from the outer peripheral edge of the fixed die 4 as shown in FIG.

In this way, the workpiece W is set, and then the robot hand 2 is operated. At this point, the roller pressing unit 3 is in the original position shown in FIG. That is, pressure oil is not supplied to the hydraulic chambers 16 and 26, so that the slide block 8 of the vertical slide portion is in the upward position and the slide block 23 of the horizontal slide portion is in the retracted state to the left in the figure. , 7 is open. Operate the robot hand 2 in this state,
The roller pressing unit 3 is moved until the flange W _E is located between the rollers 6 and 7. Further, the robot hand 2 is operated to move the roller pressing portion 3 in a direction orthogonal to the axial direction of the receiving roller 7, and thereby the receiving roller 7 is placed on the upper surface side of the flange portion W _E. After that, pressure oil is supplied to the hydraulic chambers 16 of the upper and lower slide portions to slide the slide block 8 downward, thereby pressing the receiving roller 7 against the workpiece W in the axial direction, and then the hydraulic chamber 25. the supplying pressure oil to advance the slide block 23, thereby pressing the pressing roller 6 to the flange portion W _E between the both rollers 6, 7 sandwich the flange portion W _E state (the state shown in FIG. 6) And

When the flange portion W _E is sandwiched between the rollers 6 and 7 in this manner, the robot hand 2 is then actuated to move the roller pressing portion 3 around the lower corner portion of the receiving roller 7. Then, the rollers 6 and 7 are moved upward so that the axes of the rollers 6 and 7 substantially coincide with each other in the vertical direction. As a result, the flange portion W _E is bent up to a state substantially along the vertical direction as shown in FIG. 7.

The portion thus bent becomes the starting point of the flanging process, and thereafter the robot hand 2 is operated according to a predetermined locus to move the roller pressing unit 3 along the flange portion W _E to the end point of the flanging process. What is necessary is that the flange portion W _E is continuously bent at a predetermined angle as the robot hand 2, that is, the roller pressing portion 3 moves. At this time, as described above, the clamp device 5
Are sequentially operated toward the unclamp side, and the roller pressing portion 3 and the clamp arm 5a do not interfere with each other. As described above, the flange standing process is performed, but when the bending angle of the flange portion W _E is insufficient, it is possible to bend the flange portion to a desired angle by repeating the above operation.

As described above, according to the flange stand roller processing apparatus 1 of this embodiment, the flange portion W is formed by both rollers 6 and 7.
_A folding start point is formed by sandwiching _E and moving the roller pressing unit 3 in the raising direction. In this state, the robot hand 2 is operated to move the roller pressing unit 3 along the flange W _E. As a result, the flanging process is continuously performed. From this, there is no variation in processing accuracy as long as the workpiece W is fixed at a predetermined position,
A large amount of workpieces W can be efficiently subjected to flanging, and no noise or impact applied to the hands as in the conventional manual work is generated, so the working environment is significantly improved, and therefore the health of the worker is improved. It will not hurt you.

Further, since the movement loci of both rollers 6 and 7 (roller pressing portion 3) are obtained by controlling the robot hand 2, it is possible to easily cope with the change of the shape of the workpiece W. Therefore, it is possible to provide a highly versatile flange stand processing device.

Further, as shown in FIG. 10, the pressure applied by the pressing roller 6 is concentrated at the point P of the flange portion W _E because the roller 6 is a roller body, and therefore the pressing roller 6 is applied. The processing force (bending force) of No. 6 becomes extremely large. From this, the flange part W
_E corner can be bent with a small curvature,
Further, since the flange portion W _E, which has been curved in a substantially S-shape before processing, can be formed into a state in which the flange portion W _E is pressed and extended substantially flat, the hemming processing performed in the next step can be easily performed, so that the appearance or It is possible to obtain products with excellent quality and the like.

Next, a modified example of the pressing roller 6 will be described with reference to FIGS. 11 and 12. First, Fig. 1
1 shows a pressing roller 30 for arc bending. The pressing roller 6 described above is a smooth normal roller body having no unevenness on the peripheral surface, which moves the roller pressing portion 3 (rollers 6, 7) in a straight line to move the flange portion W _E of the workpiece W. It was suitable for bending into a flat surface.

On the other hand, when the workpiece W is to be flanged along the arc portion, the roller pressing portion 3 must be moved in an arc to bend the flange portion W _E into a curved surface along the arc portion. Therefore, in this case the diagram (c)
As shown in, it is necessary to bend the flange portion W _E while pulling wrinkles. By doing so, the flange portion W _E , which was a flat surface before bending, can be bent into a curved surface along the arc portion.

Therefore, in the case where the flange is formed along the arcuate portion, the pressing roller 30 for arcuate bending as shown in the diagram (a) is used. On the peripheral surface of the pressing roller 30, as shown in the drawing, the groove portions 3 for wrinkling are formed at regular intervals.
1-31 are formed. As shown in the drawing, each groove 31 is formed in the vertical direction (axial direction) from the upper end of the peripheral surface of the roller 30 to the vicinity of the lower end thereof, and gradually extends from the depth of a substantially semicircular cross section to the lower part on the upper surface of the roller 30. It is formed to be shallow and narrow. The lower part of the peripheral surface, which has a certain width, is smooth (wrinkle groove 3
1 is not formed) is left as the peripheral surface.

The pressing roller 30 for arc bending formed as described above is mounted in place of the pressing roller 6 for linear bending. Incidentally, a roller 30 pressing for the arc bending, deeper side of the groove portion 31 as shown in partial FIG (b) is pressed against the distal end side of the flange portion W _E, smooth constant width that is not formed of the groove 31 Attach it so that the part is pressed against the bent base side.

As in the case of the straight line bending, the flange portion W is provided between the pressing roller 30 and the receiving roller 7.
_{The E} is sandwiched and bent so as to be raised, and in this state, the robot hand 2 is operated to move the roller pressing unit 3 in an arc. As a result, the flange portion W _E is bent while letting the loose portion escape into the groove portion 31, and is bent while being wrinkled at regular intervals as shown in Fig. 6 (c), thus facilitating a clean flanging process. Can be done.

Next, FIG. 12 shows a pressing roller 40 with a guide surface. That is, this pressing roller 4
A guide surface 40a, which is inclined at a constant angle with respect to the peripheral surface, is formed at the tip corner portion of 0 over the entire circumference,
The pressing roller 40 and the receiving roller 7 may be moved along the flange portion W _E while the guide surface 40a is pressed against the side surface of the fixed mold 4 as shown in the figure. It is possible to move 40 and 7 along a more accurate trajectory.

[0039]

According to the present invention, it is possible to efficiently carry out flange forming with stable quality.

[Brief description of drawings]

FIG. 1 is an overall view of a flange stand roller processing apparatus according to an embodiment of the present invention.

FIG. 2 is a vertical cross-sectional view of a roller pressing unit, which is a main part of the present invention.

FIG. 3 is a front view of a roller pressing unit.

FIG. 4 is a bottom view of a roller pressing unit.

FIG. 5 is a side view showing a clamped state of a workpiece.

FIG. 6 is a side view showing a sandwiched state of a flange portion.

FIG. 7 is a side view showing a bent state of a flange portion.

FIG. 8 is a plan view showing a clamped state of a workpiece.

FIG. 9 is a side view of a work material before and after flange stand processing.

FIG. 10 is a plan view showing a state in which a flange portion is sandwiched by rollers.

FIG. 11 is a modified example of the pressing roller, showing a partial drawing (a)
Is a perspective view of the pressing roller for arc bending, and diagram (b) is a side view showing the state where the flange part is sandwiched by the pressing roller and the receiving roller for arc bending. FIG. 6 is a plan view of a work piece that has been flanged along a circular arc portion by a roller.

FIG. 12 is a side view showing a modified example of the pressing roller, in which a pressing roller with a guide surface is used.

FIG. 13 is an overall side view of a conventional press type flange stand.

FIG. 14 is a side view of the conventional apparatus at the time of flange stand-up processing.

FIG. 15 is a side view when manually performing the flange stand processing.

[Explanation of symbols]

W ... workpiece, W _E ... flange 1 ... flange freshly roller machining apparatus 2 ... robot hand 3 ... roller pressing 4 ... fixed, 5 ... clamping device 6 ... pressing roller 7 ... backing roller 8 ... slide block ( 10 ... Piston (for vertical slide) 12 ... Support bracket (for vertical slide) 22 ... Support bracket (for horizontal slide) 23 ... Slide block (for horizontal slide) 24 ... Piston (for horizontal slide) 30 ... Pressing Roller (for arc bending), 31 ... Groove 40 ... Pressing roller with guide surface 50 ... Press device, 61 ... Hammer

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Ryuji Kurata 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Co., Ltd. (72) Inventor, Fuminori Matsuda 1 Toyota Town, Aichi Prefecture, Toyota Motor Co., Ltd. ( 72) Inventor Kazuhiko Kurokawa 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd. (72) Inventor Tatsuya Nagata 5-14 Midorigaoka, Toyota City, Aichi Prefecture Otoyo Seiki Co., Ltd. (56) References -70142 (JP, U)

Claims (2)

(57) [Claims] 1. A pair of rollers sandwiches a flange portion of a work piece fixed on a stationary die, and is placed in the sandwiched state.
One of the pair of rollers is axially pressed to
Press the processed material against the fixed mold, the other is pressed in the radial direction.
Press the flange of the work piece against the one roller.
Press the shaft center of the pair of rollers with the sandwiched state.
A method for processing a flange stand roller, which comprises bending the flange portion by tilting in a bending direction, and moving the pair of rollers along the flange portion in the bent state. 2. A robot hand attached to a fixed die for fixing a workpiece, and a robot hand attached to the tip of the robot hand, capable of sandwiching a flange portion of the workpiece.
A roller pressing part having a pair of rollers and a flange part of the material to be processed are sandwiched between the pair of rollers and bent, and both rollers are bent along the flange part in this bent state. A control means for controlling the operation of the roller pressing unit and the robot hand so as to move , one of the pair of rollers is a pressing hand in the axial direction.
The other is provided with a step, and the other is provided with a pressing means in its radial direction.
And a flange stand roller processing apparatus, which is installed in the roller pressing unit.