JP3664085B2 - Roll hemming method and roll hemming apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a roll hemming method and an apparatus for integrating an outer panel and an inner panel by pressing an upright flange of an outer panel with a roller and bending the outer panel to the inner panel side. The present invention relates to a roll hemming processing method and an apparatus thereof which are configured by rollers, and in which preliminary bending and main bending are continuously performed without supporting the rollers by a robot arm and changing the rollers.
[0002]
[Prior art]
  As shown in FIG. 15, in the conventional roll hemming method and the apparatus 100 thereof, an outer panel Po with an outer peripheral flange Pf raised is placed on a lower mold 150, and an inner panel Pi is placed on the outer panel Po. The outer peripheral edge Pg is placed so as to be positioned inside the outer peripheral flange Pf of the outer panel Po, and the roller 130 attached to the roller support 120 provided at the tip of the three-dimensional movable robot arm 111 of the robot 110 is pressed. A roll hemming technique has been proposed in which the outer panel Po, which is the material to be hemmed W, and the inner panel Pi are integrated by bending the outer peripheral flange Pf of the outer panel Po toward the inner pannel Pi.
[0003]
  Further, in order to bend the outer peripheral flange Pf of the outer panel Po to the inner panel Pi side, as shown in FIG. 16, a guide surface 151 for guiding the roller 130 is provided on the lower mold 150, and the roller 130 is made of the hemming material W The outer peripheral flange Pf is bent at a certain angle to make a so-called preliminary bending, and then the roller 130 is made almost upright to perform the main bending by making a full turn of the material to be hemmed W. Bending to the Pi side is performed.
  Therefore, the roller 130 attached to the robot arm 111 makes two rounds of preliminary bending and main bending around the material to be hemmed W, and a long time is required for hemming.
[0004]
  In order to shorten this hemming processing time, as described in Japanese Patent No. 2668252, the lower mold 150 on which the material to be hemmed W is placed is placed on the rotating device 160 on the base 190, and the hemming subject Hemming is performed by rotating the material W and moving the robot arm 111 in the direction opposite to the rotation direction of the lower mold 150 and consequently increasing the relative speed between the outer peripheral flange Pf of the material to be hemmed W and the roller 130. A method for shortening the time was adopted.
[0005]
  That is, as shown in FIG. 15, the rotating device 160 is provided on an output shaft of a servo motor 163 that supports a rotary table 161 on which a lower mold 150 is placed so as to be rotatable by a bearing portion 162 and is attached to the bearing portion 162. By driving the driven gear 165 integrally attached to the lower surface of the rotary table 161 by the pinion gear 164, the lower mold 150 can be rotated via the numerical control device so as to synchronize with the operation of the robot arm 111. It can be done.
[0006]
[Problems to be solved by the invention]
  However, in the method of increasing the relative speed between the material to be hemmed W and the roller 130, it is difficult to synchronize the rotating device 160 and the robot arm 111. If the relative speed is increased too much, the roller 130 is separated from the material to be hemmed W. There is a problem that hemming is not performed smoothly.
  Even if smooth hemming can be performed at a reduced relative speed, the robot arm 111 still has to make two rounds of prebending and main bending around the material to be hemmed W, thereby reducing time. There was a problem that could not be done.
[0007]
  Further, since it is necessary to provide a complicated rotating device 160 on which the lower mold 150 is placed, the device becomes complicated and the equipment cost has to be expensive. Further, the teaching for synchronizing the operations of the robot 110 and the rotating device 160 is also fine, and this teaching time requires a great amount of man-hours.
[0008]
  Therefore, in order to solve such problems, the present invention comprises a roller composed of a pre-bending roller and a main bending roller, and the pre-bending and the main bending are continuously performed without supporting the rollers by the robot and changing the rollers. It is an object of the present invention to provide a roll hemming method and apparatus that can be performed in this manner.
[0009]
[Means for Solving the Problems]
  In the roll hemming processing method according to the first aspect of the present invention, both the panels are positioned and placed on the lower mold in a state where the inner panel is overlapped with the outer panel having the outer peripheral flange raised, and the outer peripheral flange of the outer panel is attached to the robot arm. Is a roll hemming method in which the outer panel and the inner panel are integrated by pressing with a roller that is rotatably supported on the inner panel, and prebending the outer peripheral flange of the outer panel on the robot arm. A roller and a main bending roller which is positioned downstream of the pre-bending roller and which finally bends the outer peripheral flange that has been pre-bent by the pre-bending roller, are attached, and the robot arm is positioned on the lower mold with both rollers positioned on the lower mold. Move along the outer flange and pre-bend the outer flange with both rollers Perform this bending the continuous withWith
For arc-shaped corners with a small radius of curvature, the main bending roller is separated from the outer peripheral flange and only pre-bending is performed by the pre-bending roller, and then the main bending roller is guided to the corner and main bending is performed.It is characterized by that.
0010]
  Therefore, the preceding pre-bending roller first pre-bends the outer peripheral flange of the outer panel to the inner panel side, and the main bending roller, which is located at the subsequent stage of the pre-bending roller, continuously bends the outer peripheral flange. Since the hemming process is completed when the roller makes one round of the periphery of the material to be hemmed, the processing time is approximately halved as compared with a conventional hemming process that requires two rounds, and the processing efficiency can be improved. .
  Also,For arc-shaped corners with a small radius of curvature, where it is difficult to perform preliminary bending and main bending continuously between the pre-bending roller and the main bending roller, the main bending roller is separated from the outer peripheral flange, and only the pre-bending roller is used. Since the bending is performed and then the main bending roller is guided to each corner portion to perform the main bending, it is possible to cope with the roll hemming processing of the hemming material having the arc-shaped corner portion having a small curvature radius.
[0011]
  Moreover, the claim concerning this invention2The roll hemming processing method according to claim 1 is the roll hemming processing method according to claim 1, wherein the relative angle of the preliminary bending roller with respect to the main bending roller is variable, and the hemming processing is performed while changing the preliminary bending angle according to the hemming processing portion. It is characterized by doing.
  Therefore, when the outer flange of the hemming material to be hemmed contains both extension flanges and contraction flanges, the pre-bending angle by the pre-bending roller can be changed corresponding to the extension flange or the contraction flange. It is possible to perform the hemming with high accuracy by preventing the waviness of the flange at.
[0012]
  Moreover, the claim concerning this invention3The roll hemming device described in 1 is a roller in which both the panels are positioned and placed on the lower mold with the inner panel overlaid on the outer panel with the outer peripheral flange standing upright, and the outer peripheral flange of the outer panel is rotatably supported by the robot arm. In the roll hemming device that integrates the outer panel and the inner panel by pressing and bending to the inner panel side, the outer panel positioned on the lower mold by rolling the guide surface provided on the lower mold to the robot arm A pre-bending roller for pre-bending the outer peripheral flange and a main-bending roller for continuously bending the outer peripheral flange pre-bended by the pre-bending roller located after the pre-bending roller are attached.At the same time, the arc-shaped corner portion with a small radius of curvature should only be pre-bent with the pre-bending roller by separating the main bending roller from the outer peripheral flange, and then the main bending roller should be guided to the corner portion to perform the main bending. Teaching toIt is characterized by that.
  Therefore, by supporting both the pre-bending roller and the main bending roller on the robot arm, pre-bending with the pre-bending roller, and then continuously bending with the main bending roller, the pre-bending and the main bending can be performed almost simultaneously. Since the hemming process proceeds, the robot teaching can be performed only once, and the hemming process time can be shortened.
[0013]
  Moreover, the claim concerning this invention4The roll hemming device according to claim 4 is the roll hemming device according to claim 4, wherein the pre-bending roller is supported in an inclined posture with respect to the main bending roller in a front view of both rollers in the traveling direction. Both rollers are attached to the robot arm via the
  Therefore, just by moving the pre-bending roller along the guide surface of the lower mold, the main bending roller can follow the posture in which the outer peripheral flange is pressed substantially straight, and the relative mounting angle of both rollers Is always kept constant, so that the conditions under which both rollers abut the outer peripheral flange of the material to be hemmed and the conditions for bending hardly change, so that the quality of the hemming process can be improved.
[0014]
  Moreover, the claim concerning this invention5The roll hemming device according to claim 5 is characterized in that, in the roll hemming device according to claim 5, a variable mechanism for changing a relative angle of the preliminary bending roller with respect to the main bending roller is interposed between the bracket and the preliminary bending roller. And
  Therefore, even if the outer flange of the hemming material to be hemmed has both extended and contracted flanges, the pre-bending angle by the pre-bending roller can be corrected accordingly. Can prevent hemming with high accuracy and improve the appearance of the hemming part.
[0015]
  Moreover, the claim concerning this invention6The roll hemming device according to claim 6 is the roll hemming device according to claim 6, wherein the variable mechanism is fixed to the bracket and has an arcuate guide block centered on a tip of a pre-bending roller, and the guide block. A slide block that is guided and slid and supports the pre-bending roller at the lower end, an arc-shaped rack that is concentric with the guide block and concentric with the guide block, a pinion that meshes with the rack, and the pinion is driven to rotate. It consists of a servo motor fixed to the bracket side.
  Therefore, the relative angle of the pre-bending roller with respect to the main bending roller can be changed by rotating the pinion by the servo motor and sliding the rack engaging with the pinion and the slide block integrated with the rack along the guide block. According to this configuration, the reaction force received by the preliminary bending roller during hemming is received by the guide block by the surface, so that play does not easily occur and correction of the preliminary bending angle during hemming is possible.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
  Next, embodiments of a roll hemming method and a roll hemming apparatus according to the present invention will be described below with reference to the drawings.
  Here, FIG. 1 is a side view showing the entire roll hemming device of the present invention. 2 to 7 are diagrams showing a first embodiment of the present invention. 8 to 13 are diagrams showing a second embodiment of the present invention.
[0017]
(Configuration of the first embodiment)
  A configuration of the roll hemming device according to the first embodiment of the present invention will be described. As shown in FIG. 1, the roll hemming device 10 places an outer panel Po with an outer peripheral flange Pf upright as in the prior art, and places the inner panel Pi on the outer panel Pi. Pg is placed so as to be located inside the outer peripheral flange Pf of the outer panel Po, and by the pressing force of the two rollers 20 and 30 attached to the roller support 12 provided at the tip of the robot arm 11 of the robot 101, The outer panel Po, which is the material to be hemmed W, and the inner panel Pi are integrated by bending the outer peripheral flange Pf of the outer panel Po toward the inner pannel Pi side.
[0018]
  The present invention is characterized by a structure in which two rollers 20 and 30 are attached to a roller support portion 12 provided at the tip of the robot arm 11 in order to bend the outer peripheral flange Pf of the outer panel Po toward the inner panel Pi. In the first embodiment, as shown in FIG. 2, one roller 30 is a main bending roller that stands up substantially vertically, and the other roller 20 is a pre-bending roller that is main bent in a front view. The roller 30 is fixedly attached with a relative angle of approximately 45 °.
  The rollers 20 and 30 move in a direction perpendicular to the paper surface in the front view of FIG. 2 as the traveling direction of the rollers 20 and 30, and the left side in the side view of FIG. 3 moves forward. FIG. 4 shows only the pre-bending roller 20 viewed from the arrow IV in FIG.
  Moreover, as shown in FIG. 3, the support shafts 201 and 301 of both rollers are parallel in a side view.
[0019]
  The mounting structure of the two rollers 20 and 30 will be described in more detail. A screw hole group D in which a roller mounting plate 13 as shown in FIG. It is screwed by inserting a bolt into the shaft.
  This roller mounting plate 13 is obtained by cutting a thick steel plate, and an upper screw hole group A composed of two lateral screw holes for mounting the main bending roller 30 on the front side of the right half of FIG. And a lower screw hole group B composed of three vertical screw holes.
  Further, a screw hole group C composed of four screw holes for bolting the bracket 14 for attaching the pre-bending roller 20 is provided on the back surface of the left half. In addition, the range of the screw hole group B for attaching the main bending roller 30 of the roller mounting plate 13 and the range of the screw hole group C for attaching the bracket 14 have a slight thickness to eliminate the mounting play. Sharpened in the direction.
[0020]
  Next, as shown in FIG. 6, the bracket 14 for attaching the pre-bending roller 20 includes a vertical plate 141 attached to the roller mounting plate 13 by the screw hole group C of the roller mounting plate 13, and the vertical plate 141. The inclined plate 142 is welded to the lower end of the vertical plate 141 at an inclination of about 45 °, and the substantially triangular reinforcing rib plate 143 is bridged between the vertical plate 141 and the inclined plate 142.
  The inclined plate 142 includes a screw hole group E including two screw holes in the horizontal direction for attaching the pre-bending roller 20 to the back side of the inclined plate 142 in FIG. 6, and a screw including three screw holes in the vertical direction. A hole group F is provided. The screw hole groups E and F are set in the same relationship as the screw hole groups A and B of the roller mounting plate 13.
[0021]
  Next, the mounting structure of the two rollers 20 and 30 to the roller mounting plate 13 and the bracket 14 described above will be described with reference to FIGS. The mounting structure of the main bending roller 30 to the right half of the roller mounting plate 13 and the mounting structure of the preliminary bending roller 20 to the back surface of the inclined plate 142 of the bracket 14 are exactly the same.
  That is, the screw hole group A above the roller mounting plate 13 is a screw hole arranged in two horizontally, and a gas spring 31 that constantly presses the main bending roller 30 downward is provided on the roller mounting plate 13 in this screw hole. The fixing bracket 32 for fixing is bolted.
  Note that the screw hole group D constituted by four screw holes around the screw hole group A fixes the roller mounting plate 13 to the roller support portion 12 provided at the tip of the robot arm 11 as described above. It is a screw hole for.
[0022]
  A connecting rod 311 having a convex cross section is attached to the tip of the piston rod projecting downward from the gas spring 31. On the other hand, a connecting portion 331 having a concave cross section with a U-shaped front and back facing each other is provided at the upper end. The slide plate 33 provided with a roller holding hole 332 through which the support shaft 301 of the main bending roller 30 is inserted at the lower end is connected to the connection fitting 311 at the connection portion 331 at the upper end.
[0023]
  The slide plate 33 has a substantially rectangular cross section, and the periphery of the slide plate 33 is held by a guide 34 so as to be slidable up and down. The guide 34 includes a base 341 having a concave cross section and a head 342 that closes the opening thereof. The guide 34 is screwed below the roller mounting plate 13 by three screw holes arranged vertically in the screw hole group B at the bottom of the base 341. It is stopped and fixed to the roller mounting plate 13. The slide plate 33 is inserted from the side opening of the base 341, and the head 342 is covered and screwed to the base 341 to hold the slide plate 33 slidable up and down.
[0024]
  The support shaft 301 of the main bending roller 30 is inserted into a roller holding hole 332 provided at the lower end of the slide plate 33, and the support shaft 301 is tightened by a nut 302, so that the main bending roller 30 can be rotated freely and the slide plate. It is attached to the roller mounting plate 13 through 33 so as to be slidable up and down.
[0025]
  Next, the mounting structure of the pre-bending roller 20 to the inclined plate 142 of the bracket 14 is similar to the mounting structure of the main bending roller 30 to the roller mounting plate 13 as described above, in the screw hole group E of the inclined plate 142. The fixing metal 32 is screwed to fix the gas spring 31, the base 341 of the guide 34 is screwed into the screw hole group F, the slide plate 33 is inserted, the head 342 is covered, and the head 342 is screwed to the base 341. At the same time, the connection portion 331 at the upper end of the slide plate 33 is connected to the connection fitting 311 of the gas spring 31, and the support shaft 201 of the pre-bending roller 20 is inserted into the roller holding hole 332 at the lower end of the slide plate 33. The preliminary bending roller 20 is held by tightening with.
[0026]
  In this way, the bracket 14 to which the pre-bending roller 20 is attached is attached to the roller mounting plate 13. The vertical plate 141 of the bracket 14 is screwed into the screw mounting plate 13 on the surface opposite to the mounting surface of the main bending roller 30. This is done by fixing with bolts inserted through the four screw holes of group C.
  Accordingly, the inclined plate 142 of the bracket 14 is attached to the roller attachment plate 13 at an angle of about 45 °, and the preliminary bending roller 20 is about 45 to the main bending roller 30 in a front view of both rollers in the traveling direction. It will be mounted with a relative angle of °.
  In addition, as seen in FIG. 3, the support shafts 201 and 301 of the two rollers 20 and 30 are parallel to each other and are separated by a distance that does not interfere with each other.
[0027]
(Operation of the first embodiment)
  Next, a roll hemming method performed using the roll hemming apparatus 10 according to the first embodiment configured as described above will be described with reference to the cross-sectional view of FIG.
  First, the hemming process is started when the two rollers 20 and 30 attached to the tip of the robot arm 11 are brought into contact with a general (not corner portion) outer peripheral flange Pf of the material to be hemmed W.
  That is, while the two rollers 20 and 30 are moved forward, the pre-bending roller 20 is brought into contact with the outer peripheral flange Pf at an appropriate position of the material to be hemmed W from an oblique outer side, and the outer flange Pf is moved to the inner panel Pi by the pressing force of the gas spring 31. It is made to lie along the guide surface 51 of the lower mold 50 while being bent sideways. At this time, the main bending roller 30 at the rear is lifted above the pre-bending roller 20 to teach the robot 101 so as not to contact the outer peripheral flange Pf that has not been pre-bent.
[0028]
  In this state, the two rollers are further advanced, and when the rear main bending roller 30 reaches the region of the pre-bent outer peripheral flange Pf, the lifted main bending roller 30 is pre-bent outer peripheral flange Pf. The outer peripheral flange Pf is further pressed by the pressing force of the gas spring 31 to bend the outer peripheral flange Pf.
  In this steady state, the front pre-bending roller 20 is guided by the guide surface 51 of the lower die 50 to pre-bend the outer peripheral flange Pf to the position of arrow A, while the rear main bending roller 30 moves the outer peripheral flange Pf to arrow B. The hemming process is completed by making a round around the material to be hemmed W while being fully bent to the position.
[0029]
  Next, since the corner portion of the hemming material W has a small radius of curvature, the two rollers cannot bend the corner portion while performing preliminary bending and main bending. That is, as shown in FIG. 14, when the center position of both rollers is changed from the state of a to the state of bending the corner portion by performing preliminary bending by the preceding preliminary bending roller 20, the following main bending roller 30 is moved to the outer periphery. It is off the flange Pf and cannot be bent. The state in which the main bending cannot be performed continues for a while after the rollers 20 and 30 have completely bent the corner portion, and continues until just before the main bending roller 30 can contact the outer peripheral flange Pf.
  Therefore, only the preliminary bending by the preliminary bending roller 20 is performed during this period. That is, the robot 101 is taught so that the preliminary bending is performed continuously over the entire circumference of the material to be hemmed W without leaving the preliminary bending roller 20.
[0030]
  In this state, hemming is performed for one round, and then the robot arm 11 is sequentially guided to each corner, and the main bending roller 30 is brought into contact with the outer peripheral flange Pf that has already been pre-bent to perform the main bending of the corner. Do. This is performed for the number of corners, and the hemming process is completed. By performing the hemming of the corner portion by the method as described above, the hemming of the material to be hemmed W can be performed by the roll hemming device of the present invention.
[0031]
  As described above, the roll hemming device 10 according to the present invention includes a pre-bending roller 20 that pre-bends the outer peripheral flange Pf by rolling the roller on the guide surface 51 provided on the lower mold 50, and the pre-bent outer peripheral flange. Since Pf is composed of a main bending roller 30 that bends the inner panel Pi on the inner panel Pi and both the rollers 20 and 30 are attached to the robot arm 11, the hemming is performed only by the roller making one round of the outer periphery of the material to be hemmed W. Machining can be completed and machining time can be shortened.
[0032]
(Configuration of Second Embodiment)
  Next, the configuration of the second embodiment of the roll hemming device according to the present invention will be described. In the second embodiment, the relative angle of the preliminary bending roller 20 and the main bending roller 30 of the first embodiment described above when viewed in the front direction of travel can be changed.
[0033]
  Before explaining the configuration of the second embodiment, the necessity of changing this relative angle will be explained. Many of the hemming materials W of the vehicle lid as shown in FIG. There are many curved shapes in which the hemming material W is placed on the lower die 50 and the surface in contact with the lower die 50 is a convex surface.
[0034]
  In general, as shown in FIG. 18A, in the bending process of the metal plate, the flange Hc of the convex portion in plan view becomes a contracted flange because the flange Hc is shorter than the original developed shape.
  On the other hand, as shown in FIG. 18 (B), the flange Ht of the concave portion in plan view becomes an elongated flange because the flange Ht is longer than the original developed shape. And when the metal plate shown to FIG. 18 (A), (B) curves below, the degree of shrinkage will become still stronger. In this case, even if the flanges Hc and Ht are straight in a plan view, the flanges Hc and Ht are contracted flanges if they are curved downward.
[0035]
  When this is applied to the hemming material W in FIG. 17, among the sides A, B, C, and D, the side A has a substantially flat plate shape with no remarkable downward curvature, and has a concave shape in plan view. There is a stretch flange. The side B has a linear shape in a plan view but is curved downward, and is a contracted flange in this respect. Further, both sides C and D are convex flanges because they have a convex shape in plan view. In particular, side C is greatly curved downward and the degree of shrinkage is large.
[0036]
  In the case of pre-bending each of these sides, if the flange of side A is pre-bent by the pre-bending roller 20, the outer peripheral flange Pf is an elongated flange, and thus the spring back amount is large. Therefore, in the case of an elongated flange, the pre-bending angle should be set to about 30 °, which is tighter than the standard 45 °.
[0037]
  However, since the flanges of the sides B and C have a large degree of shrinkage, if the material is preliminarily bent by the pre-bending roller 20, the material of the outer peripheral flange Pf becomes too small, which causes a problem that the outer peripheral flange Pf undulates. If the outer peripheral flange Pf is bent in this state, wrinkles are generated in the hemming portion, which is unsightly. Therefore, in the case of a contracted flange, it is desirable that the pre-bending angle is set to about 60 °, which is less than the standard 45 °.
[0038]
  Therefore, in the second embodiment, both rollers 20 and 30 are supported via a bracket 514 so that the preliminary bending roller 20 is supported in an inclined position with respect to the main bending roller 30 in a front view in the traveling direction of both rollers 20 and 30. 20 and 30 are attached to the robot arm 11, and a variable mechanism for changing the relative angle of the preliminary bending roller 20 with respect to the main bending roller 30 is interposed between the bracket 514 and the preliminary bending roller 20.
  In the second embodiment, the pressing direction of the outer peripheral flange of the material to be hemmed by both rollers 20 and 30 is made coincident with the axis of the wrist 11a of the robot arm 11, and the wrist 11a is excessively caused by a bending moment. The load is not applied.
[0039]
  In detail, as shown in FIG. 8, the top plate 5145 of the bracket 514 is bolted to the roller support portion 12 of the wrist portion 11 a of the robot arm 11, and both rollers 20 and 30 are attached to the robot arm 11.
  The bracket 514 is perpendicular to the top plate 5145 and is a side surface with respect to the traveling direction of the rollers 20 and 30 shown in FIG. 9. The right vertical plate 5142, the left vertical plate 5143, A vertical plate 5141 that supports the main bending roller 30 with the right vertical plate 5142 is attached by welding.
  In FIG. 8 and FIGS. 12A and 12B, a part of the left vertical plate 5143 is omitted and indicated by a two-dot chain line.
[0040]
  On the rear side of the main bending roller 30 between the vertical plate 5141 and the right vertical plate 5142, a rear plate 5144 connecting the vertical plate 5141 and the right vertical plate 5142 is welded perpendicularly to the top plate 5145, The vertical plate 5141, the right vertical plate 5142, and the rear plate 5144 form a U-shape that opens to the side surface. An upper lid 5146 parallel to the top plate 5145 is attached by welding in three directions in the vertical direction of the U-shaped cross section, and an air cylinder 531 described later is attached to the lower surface of the upper lid 5146.
[0041]
  A base 5341 having a concave cross section of a guide 534 that supports the slide plate 533 of the main bending roller 30 so as to be slidable up and down is bolted to the lower end of the rear plate 5144 at the bottom, and the slide plate 533 is inserted into the base 5341. In this state, a guide 534 is formed by covering the head 5342.
[0042]
  An air cylinder 531 is attached to the lower surface of the above-described upper lid 5146 above the guide 534 with the piston head 5311 facing downward, and the piston head 5311 has the upper end of the slide plate 533 against the lower end of the piston head 5311. It arrange | positions so that the slide board 533 may be pressed below when it raises until it contacts.
  The main bending roller 30 is rotatably supported in a roller holding hole 5332 provided at the lower end of the slide plate 533 by a support shaft 5301 and a nut 5302 inserted in a direction perpendicular to the slide direction.
[0043]
  On the other hand, as shown in FIG. 8, the pre-bending roller 20 has a relative angle of 45 ° with respect to the main bending roller 30 as ± 20 °, that is, a relative angle with respect to the main bending roller 30 of 25 ° to 65 °. It is supported so that it can change in range.
[0044]
  That is, the pre-bending roller 20, the guide 634 that supports the pre-bending roller 20 by the support shaft 6201 and the nut 6202, and the upper end of the slide plate 633 that slides and supports the slide plate 633 in the same direction as the pressing direction of the pre-bending roller 20. The mounting relationship with the air cylinder 631 that presses is substantially the same as the mounting relationship of the main bending roller 30, and a slide is provided between the right vertical plate 5142 and the left vertical plate 5143 of the bracket 514 so as to accommodate them. A base plate 6341 having a concave cross section, which is supported by covering the head 6342 of the guide 634 with the plate 633 slidably inserted in the vertical direction, is welded to the left and right of the rear plate 6144 and the rear plate 6144 which is supported by bolting at the bottom. The right vertical plate 6142 and the left vertical plate 6143 are opened in a direction perpendicular to the traveling direction of the preliminary bending roller 20. That a box-shaped pre-bending bracket 614 for the roller 20 of the U-shaped is accommodated.
[0045]
  The upper end of the bracket 614 is closed by an upper lid 6146, and an air cylinder 631 is attached to the lower surface of the upper lid 6146 with its piston head 6311 facing downward. The piston head 6311 is arranged so as to press the slide plate 633 downward when it rises until the upper end of the slide plate 633 comes into contact with the lower end of the piston head 6311.
[0046]
  On the outside of the left and right vertical plates 6142 and 6143 corresponding to the left and right side surfaces of the air cylinder 631, as shown in the perspective view of FIG. 10 and the cross-sectional view of FIG. Slide blocks 6451 and 6452 that are slidably fitted are bolted.
  In the perspective view of FIG. 10, the top plate 5145 and the left vertical plate 5143 of the bracket 514 are omitted.
[0047]
  The convex cross-section guide block 640 is bolted with the convex cross-section convex portions coming into contact with the opposing inner surfaces of the left and right vertical plates 5142 and 5143 of the bracket 514. Therefore, the upper and lower guide grooves 6453 are formed by the guide block 640 and the left and right vertical plates 5142 and 5143. The semi-convex cross sections of the upper and lower ends of the slide blocks 6451 and 6452 are engaged with the guide groove 6453.
  The curve of the guide block 640 is an arc shape drawn with a radius R1 centered on the tip of the pre-bending roller 20, and the length of the guide block 640 is 45 ° relative to the main bending roller 30 of the pre-bending roller 20. The length can be changed within a range of ± 20 °.
[0048]
  A rack 664 having a tooth portion having a radius R2 concentric with the guide block 640 is attached to the upper surface of the upper lid 6146 above the air cylinder 631. The tooth portion of the rack 664 meshes with a pinion 665 attached to the rotation shaft of the servo motor 663 supported on the rear side of the bracket 514.
[0049]
(Operation of the second embodiment)
  Next, a roll hemming processing method performed using the roll hemming apparatus 510 according to the second embodiment configured as described above will be described. As described above, the roll hemming device 510 of the second embodiment can change the relative angle of the pre-bending roller 20 with respect to the main bending roller 30 to correct the pre-bending angle according to the hemming site. Since this point has the characteristics, an example of hemming the hemming material W shown in FIG.
[0050]
  When starting the corner (b) between the B part and the C part of the material to be hemmed W and trying to hemm counterclockwise in the figure, the C and D parts are contracted flanges as described above. As shown in FIGS. 12 (A) and 13 (A), the pre-bending roller 20 is in contact with the outer peripheral flange Pf so that the relative angle with respect to the main bending roller 30 is a gentle angle of 60 °. Thus, the pinion 665 is rotated, and the rack 664 and the slide blocks 6451 and 6452 integrated therewith are moved along the guide block 640. When the robot arm 11 is moved in the hemming direction in this state, the outer bending flange Pf is first pre-bent to an angle of about 60 ° by the pre-bending roller 20, and then hemming is performed while the main bending roller 30 performs main bending. Go.
[0051]
  And although it enters into D part through a corner (b), since this is also a contracted flange, the relative angle of the preliminary bending roller 20 with respect to the main bending roller 30 advances at 60 ° as it is. The angle (c), (d), and (e) are symmetrical with the C part and the D part, and are also contracted flanges, so that the relative angle of the preliminary bending roller 20 with respect to the main bending roller 30 proceeds as it is.
  Between the corners (e) and (f), that is, the symmetrical part B is a contraction flange, but since the degree of contraction is weak, the relative angle of the pre-bending roller 20 with respect to the main bending roller 30 is returned to the standard 45 ° and hemming is performed. Processing. (State of FIGS. 7 and 8)
  Since the angle between the corners (f), (g), and (h) is an elongated flange, the relative angle of the preliminary bending roller 20 with respect to the main bending roller 30 is about 30 ° as shown in FIGS. 12 (B) and 13 (B). Pre-bending is performed by changing the angle to a tight angle, and then hemming is performed while the main bending roller 30 performs main bending.
[0052]
  It is possible to perform hemming while changing the relative angle of the pre-bending roller 20 with respect to the main bending roller 30 according to the hemming site by rotating the servo motor 663 as an external shaft of the robot 101 as described above. Become.
[0053]
  In this way, if the rollers 20 and 30 are attached to the robot arm 11 so that the relative angle of the pre-bending roller 20 to the main bending roller 30 can be changed, the outer flange Pf of the material to be hemmed W is stretched with the contracted flange. Even when flanges are mixed, highly accurate hemming can be performed while changing the relative angle and correcting the pre-bending angle, thereby improving hemming quality.
[0054]
  In addition, this invention is not limited to the thing of the said embodiment, A various change is possible in the range which does not deviate from the meaning.
  For example, in the above-described embodiment, the lower mold is fixed. However, the present invention is not limited to this. If the lower mold is also configured to rotate, and the hemming process is always performed on the front half of the robot, the robot The arm length may be short, and the equipment cost can be reduced.
  In addition, the relative angle between the pre-bending roller and the main bending roller has been described as being fixed at 45 ° or variable within a range of ± 20 °. However, the present invention is not limited to this. It is sufficient that the rollers are supported in an inclined posture in the front view in the traveling direction of both rollers.
  Further, in the hemming method of the corner portion, the explanation has been given in the case where the corner portion has an arc shape. However, when the corner portion is configured by an angle where two lines intersect, the preliminary bending and the main bending of one side are finished. Then, it is only necessary to teach the robot so as to start preliminary bending and main bending of the other side.
[0055]
【The invention's effect】
  In the present invention, both panels are positioned and placed on the lower mold with the inner panel overlaid on the outer panel with the outer peripheral flange standing upright, and the outer peripheral flange of the outer panel is pressed by a roller that is rotatably supported by a robot arm. In a roll hemming method in which the outer panel and the inner panel are integrated by bending toward the inner panel side, a preliminary bending roller that pre-bends the outer peripheral flange of the outer panel to the robot arm, and a preliminary position that is positioned after the preliminary bending roller A bend roller for bending the outer peripheral flange preliminarily bent by the bending roller is attached, and both rollers are moved along the outer peripheral flange of the outer panel positioned on the lower mold by the robot arm. Since the pre-bending and the main bending are performed continuously, the lower mold Without employing a complicated mechanism for rotating, it becomes possible to shorten the hemming time with an inexpensive configuration.
[Brief description of the drawings]
FIG. 1 is a side view showing an entire roll hemming device according to an embodiment of the present invention.
FIG. 2 is an enlarged front view of a roller support portion of the roll hemming device according to the first embodiment of the present invention.
FIG. 3 is an enlarged side view of a roller support portion of the roll hemming device according to the first embodiment of the present invention.
4 is an arrow view along arrow IV in FIG. 2. FIG.
FIG. 5 is a perspective view of a roller mounting plate of the roll hemming device according to the first embodiment of the present invention.
FIG. 6 is a perspective view of a bracket for attaching a pre-bending roller of the roll hemming device according to the first embodiment of the present invention.
FIG. 7 is a front sectional view showing a state in which hemming is performed using the roll hemming device according to the first embodiment of the present invention.
FIG. 8 is a front view of a roller support portion of a roll hemming device according to a second embodiment of the present invention.
FIG. 9 is a side view of a roller support portion of a roll hemming device according to a second embodiment of the present invention.
FIG. 10 is a partially omitted perspective view of a roller support portion of a roll hemming device according to a second embodiment of the present invention.
11 is a cross-sectional view taken along line XI-XI in FIG.
FIGS. 12A and 12B are front views when the relative angle of the pre-bending roller with respect to the main bending roller of the roll hemming device according to the second embodiment of the present invention is 60 °, and FIG. 12B is 30 °. FIG.
13A and 13B show a roll hemming device according to a second embodiment of the present invention, in which the relative angle of the pre-bending roller with respect to the main bending roller is 60 °, and FIG. 13B is 30 °. It is front sectional drawing which showed the state which hemmes in a case.
FIG. 14 is a schematic plan view showing a corner portion hemming method by the roll hemming device according to the embodiment of the present invention.
FIG. 15 is a side view showing an entire conventional roll hemming device.
FIG. 16 is a side view showing a roller support portion of a conventional roll hemming device.
FIG. 17 is a plan view showing an example of a material to be hemmed.
18A is a perspective view for explaining a general contraction flange, and FIG. 18B is a perspective view for explaining a general extension flange.
[Explanation of symbols]
10, 510 roll hemming device
11 Robot arm
12 Roller support
13 Roller mounting plate
14, 514 Bracket
20 Pre-bending roller
30 bending rollers
31 Gas Spring
33, 533, 633 Slide plate
34, 534, 634 Guide
50 Lower mold
51 Guide surface
531, 631 Air cylinder
640 Guide block
6451, 6452 Slide block
663 Servo motor
664 racks
665 pinion
W Hemming material
Pf outer peripheral flange
Pg outer periphery

Claims (6)

With the inner panel overlaid on the outer panel with the outer peripheral flange standing upright, both panels are positioned and placed on the lower mold, and the outer peripheral flange of the outer panel is pressed by the roller that is rotatably supported by the robot arm and moved toward the inner panel. In the roll hemming method for integrating the outer panel and the inner panel by bending,
A pre-bending roller for pre-bending the outer peripheral flange of the outer panel and a main bending roller for bending the outer peripheral flange that has been pre-bent by the pre-bending roller are attached to the robot arm. These rollers are moved along the outer peripheral flange of the outer panel positioned on the lower mold, and the preliminary bending and the main bending of the outer peripheral flange are continuously performed with both rollers ,
The arc-shaped corner portion having a small curvature radius is characterized in that the main bending roller is separated from the outer peripheral flange and only pre-bending is performed by the pre-bending roller, and then the main bending roller is guided to the corner portion and main bending is performed. Roll hemming method. In the roll hemming processing method according to claim 1,
A roll hemming method characterized in that the relative angle of the prebending roller with respect to the main bending roller is variable, and hemming is performed while changing the prebending angle in accordance with the hemming site. With the inner panel overlaid on the outer panel with the outer peripheral flange standing upright, both panels are positioned and placed on the lower mold, and the outer peripheral flange of the outer panel is pressed by the roller that is rotatably supported by the robot arm and moved toward the inner panel. In the roll hemming device that integrates the outer panel and the inner panel by bending,
A pre-bending roller that pre-bends the outer peripheral flange of the outer panel positioned on the lower die by rolling a guide surface provided on the lower die on the robot arm, and a pre-bending roller that is positioned behind the pre-bending roller. pre-bending has been a peripheral flange continuously attached and the bending roller to the bending Rutotomoni,
For arc-shaped corners with a small radius of curvature, the main bending roller is moved away from the outer peripheral flange and only pre-bending is performed by the pre-bending roller, and then the main bending roller is guided to the corner and teaching is performed to perform main bending. A roll hemming device characterized by that. The roll hemming device according to claim 3 ,
A roll hemming device, wherein both rollers are attached to a robot arm via a bracket so that the pre-bending roller is supported in a posture inclined with respect to the main bending roller in a front view of both rollers in the traveling direction. The roll hemming device according to claim 4 ,
A roll hemming device characterized in that a variable mechanism for changing a relative angle of the preliminary bending roller with respect to the main bending roller is interposed between the bracket and the preliminary bending roller. The roll hemming device according to claim 5 ,
The variable mechanism is
An arcuate guide block fixed to the bracket and centered on the tip of the pre-bending roller;
A slide block that slides while being guided by the guide block and supports the preliminary bending roller at the lower end;
An arc-shaped rack fixed to the upper end of the slide block, concentric with the guide block;
A roll hemming device comprising a pinion meshing with a rack and a servo motor fixed to a bracket side for rotationally driving the pinion.

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