JP3805552B2 - Hemming workpiece manufacturing equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a workpiece manufacturing line for hemming processing for manufacturing two types of workpieces having different shapes formed by integrating an outer member and an inner member by hemming processing, for example, left and right doors for automobiles.
[0002]
[Prior art]
A door for an automobile is formed by combining a door inner, which is an inner member formed by assembling a sash, a beam, or the like on the inner panel, and an outer panel, which is an outer member, and then sub-assembling the door, and then hemming the periphery of the outer panel. The outer panel and the door inner are integrated, and then the hemming portion on the periphery of the outer panel is welded.
[0003]
By the way, the right and left doors for automobiles are not the same shape but symmetrical, and generally the right and left doors are manufactured on dedicated lines, but this requires equipment costs. Japanese Patent Application Laid-Open No. 53-145217 discloses that the right door and the left door can be manufactured on a common line.
[0004]
This line consists of a subassembly station that is common to the right and left doors that combine the outer panel and door inner to subassemble the door, a hemming station for the right door that has a hemming device that fits the right door, and the left door. A hemming station for the left door in which a hemming device conforming to the above is arranged in series, each door is hemmed by a corresponding hemming station, and a non-corresponding hemming station is allowed to pass without hemming.
[0005]
By the way, one cycle of the hemming process includes a door loading process to the hemming apparatus, a mold clamping process of the hemming apparatus, a pressure holding process, a mold opening process, and a door discharging process from the hemming apparatus. When the right door and the left door are manufactured on dedicated lines respectively, two doors on the right and left can be manufactured in the time required for one cycle of hemming (cycle time). Only one door can be manufactured, which reduces efficiency.
[0006]
Therefore, the applicant of the present application previously arranged a hemming device for the right door and a hemming device for the left door side by side in accordance with Japanese Patent Application No. 10-143005, and combined the outer panel and the door inner to perform sub-assembly. We proposed the right door and left door alternately inserted into the right door hemming device and the left door hemming device by a common workpiece input robot.
[0007]
According to this, since the mold clamping, processing hold, and mold opening in the other hemming device are performed within the time required for the door paying out and loading from one hemming device, the left and right doors are in a hemming cycle. The efficiency is improved by alternately producing at intervals of about half of the time, and the work input robot is shared by the left and right doors, so that the equipment cost is lower than that provided with a dedicated line.
[0008]
[Problems to be solved by the invention]
The hemming device is generally composed of a hydraulic press in which struts are erected at four corners, and a ram is suspended from a top frame mounted on these four struts via a hydraulic cylinder. When two hemming devices are installed side by side as desired, and a workpiece is alternately loaded into one hemming device and the other hemming device by a common workpiece loading robot, the hemming device is placed on the column in the middle of both hemming devices. It is necessary to shift the workpiece loading robot to one hemming device side and the other hemming device side so that the workpiece can be loaded without interference. Then, the time required for this shift becomes a loss time, and the time required for the work input process to the hemming device becomes longer, which is a problem in further improving the efficiency.
[0009]
By the way, conventionally, as a hydraulic press, a pillar is erected only at two corners at diagonal positions, and a ram is suspended from a diagonal upper beam extending between both pillars via a hydraulic cylinder. It has been known.
[0010]
The present invention focuses on such a hydraulic press, and improves the above-mentioned prior application by which workpieces can be alternately loaded into two hemming devices without shifting the workpiece loading robot, thereby further improving the efficiency. An object is to provide an apparatus.
[0011]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present invention is a hemming workpiece manufacturing apparatus for manufacturing two types of workpieces having different shapes formed by integrating an outer member and an inner member by hemming. A first type of work in which a first hemming device suitable for a work and a second hemming device suitable for a second type of work are juxtaposed and a subassembly is made by combining an outer member and an inner member. Providing a common workpiece loading robot for alternately feeding the first and second types of workpieces to the first hemming device and the second hemming device, and each hemming device has only two corner portions at diagonal positions. The rams are constructed by suspending rams via hydraulic cylinders on diagonal beams extending between the columns, and both hemming devices are connected to the upper beams. work Juxtaposed as combined in a V-shape to diverging toward the placement side of the entrance robot, the work-up robot is arranged in the arrangement direction intermediate portions of the hemming device, processing one hemming apparatus of the workpiece During the operation, the workpiece is loaded into the other hemming device .
[0012]
According to the present invention, on the surface of the hemming devices facing the work placement robot side, only the columns exist on both outer sides in the juxtaposition direction of both hemming devices, and the middle is an open space without columns. . Therefore, by disposing the workpiece loading robot in the middle portion in the direction in which both hemming devices are arranged, two types of workpieces can be alternately loaded into both hemming devices without shifting the workpiece loading robot. Thus, the time required for the workpiece input process can be shortened and the efficiency can be further improved.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment in which the present invention is applied to an apparatus for manufacturing left and right doors for a vehicle will be described.
[0014]
As shown in FIG. 1, the door manufacturing apparatus includes an inner assembly station 1 for assembling a door inner as an inner member, a pair of inner work lines 2R and 2L for a right door and a left door for performing a required work on the door inner, and an outer panel. The outer charging station 3 for charging the outer wall, the sub assembly station 4 for sub-assembling the door by combining the outer panel and the door inner, and the outer edge of the outer panel and the door inner are integrated by hemming the bent edges around the outer panel. And a hemming station 5 to be converted.
[0015]
A turntable 6 is disposed in the inner assembly station 1, and an inner set jig 7R for the right door and an inner set jig 7L for the left door are placed back to back on the turntable 6. By rotating the table 6, both inner setting jigs 7R and 7L are alternately reversed to a setting position 1a on one side around the turntable 6 and a welding position 1b on the other side. Then, at the set position 1a, the inner panel of the door corresponding to each of the inner setting jigs 7R and 7L and a plurality of inner parts such as sashes, stiffeners, and beams are manually set, and the welding position 1b is disposed above the inner panel. The inner panel and a plurality of inner parts are welded and joined on the inner set jigs 7R and 7L by the ceiling-suspended welding robot (not shown), and the door inner WRI for the right door and the door inner WLI for the left door Assemble alternately.
[0016]
In each inner work line 2R, 2L, front and rear transport robots 8, 9 for transporting the door inner WRI, WLI are arranged. Inner set jigs 7R, 7L existing at the welding position 1b by the transport robot 8 in the previous stage. The door inners WRI and WLI are taken out from the inner work lines 2R and 2L and transferred to an intermediate delivery position 2a. At the delivery position, the door inners WRI and WLI are delivered from the preceding transport robot 8 to the subsequent transport robot 9. Then, the door inner WRI and WLI are transported to the common payout position 2b at the end of both inner work lines 2R and 2L by the transport robot 9 at the rear stage. Then, stationary welding guns 10 and 11 are arranged on the transfer paths of the door inners WRI and WLI by the transfer robots 8 and 9, and the door inners WRI and WLI are relative to the welding guns 10 and 11 by the transfer robots 8 and 9, respectively. The joints between the inner panel and the inner parts that have been moved and left behind at the inner assembly station 1 are additionally welded by the welding guns 10 and 11.
[0017]
The door inner WRI for the right door and the door inner WLI for the left door are alternately carried into the payout position 2b, and the door inner WRI and WLI are transferred from the transfer robot 9 at the rear stage to the right door and the left at the payout position 2b. It is delivered to the sub-assembly inner transfer robot 12 which is an inner transfer device common to the door, and the robot 12 alternately transfers the door inner WRI for the right door and the door inner WLI for the left door to the sub-assembly station 4. The transfer robot 12 is taught so as to transfer the door inner WRI and WLI to the subassembly station 4 via the placement portion of the stationary welding gun 13, and the door inner WRI and WLI are also transferred during transfer by the transfer robot 12. Additional welding is performed to reduce the number of additional welding points in the inner work lines 2R and 2L, that is, to shorten the cycle time.
[0018]
In the outer charging station 3, an outer panel WRO for the right door and an outer panel WLO for the left door are alternately loaded. For the subassembly that is a common outer transfer device for the right door and the left door. The outer transfer robot 14 alternately transfers the outer panel WRO for the right door and the outer panel WLO for the left door from the outer charging station 3 to the subassembly station 4. In addition, a stationary sealant coating device 15 is arranged on the transport path of the outer panels WRO and WLO by the transport robot 14, and the outer panels WRO and WLO are moved relative to the sealant coating device 15 by the transport robot 14. The sealing agent is applied to the joints of the outer panels WRO and WLO to the door inners WRI and WLI.
[0019]
The outer transfer robot 14 is configured to suck and hold the outer surfaces of the outer panels WRO and WLO, and carries the outer panels WRO and WLO to the subassembly station 4 in a horizontal posture with the inner surfaces facing upward. Further, in each of the inner setting jigs 7R and 7L, an inner panel and an inner part are set so that the inner panel is located outside the inner part, and the door inner WRI and WLI are connected to the inner panel by the transfer robot 8. The door inner WRI and WLI are gripped from the inner panel inner surface side by the transfer robot 9, and the door inner WRI and WLI are again gripped from the outer surface side of the inner panel by the transfer robot 12. Then, the inner inner assembly robot 12 carries the door inner WRI and WLI into the sub assembly station 4 in a horizontal posture with the inner surface facing downward, and is placed on the outer panels WRO and WLO held in the horizontal posture by the outer conveying robot 14. The door inners WRI and WLI are combined from above, and the right door WR and the left door WL are alternately sub-assembled.
[0020]
The hemming station 5 is provided with a hemming device 16R suitable for the right door WR and a hemming device 16L suitable for the left door WL. Then, the right door WR and the left door WL alternately sub-assembled at the sub-assembly station 4 are placed on the right side by a work input robot 17 which is a common work input device arranged between the sub-assembly station 4 and the hemming station 5. The hemming device 16R for the door and the hemming device 16L for the left door are alternately inserted, and the hemming processing of the right door WR by the hemming device 16R and the hemming processing of the left door WL by the hemming device 16L are alternately performed.
[0021]
As shown in FIG. 2, each hemming device 16R, 16L is composed of a hydraulic press that raises and lowers the ram 160 with a hydraulic cylinder 161, and the bent edges of the outer panels WRO, WLO of the doors WR, WI set on the hemming die 162. WOa is hemmed through a hemming punch (not shown) by lowering the ram 160. Here, in each hemming device 16R, 16L, columns 163, 164 are erected only at two corners at diagonal positions, and the upper beam 165 on the diagonal line stretched between the columns 163, 164 is provided. The ram 160 is suspended through the hydraulic cylinder 161, and the two corners at the diagonal positions of the ram 160 are slidably engaged with the guide rails 163a and 164a fixed to the support columns 163 and 164. Guide the up and down movement. The hemming devices 16R and 16L are arranged side by side so that the upper beams 165 and 165 of the hemming devices 16R and 16L are combined in a V-shape that expands toward the arrangement portion side of the workpiece input robot 17. According to this, only the columns 163 and 163 exist on the outer sides of both hemming devices 16R and 16L on the side facing the arrangement side of the workpiece loading robot 17 of both hemming devices 16R and 16L. Is an open space with no support. Thus, by disposing the workpiece loading robot 17 at the intermediate portion in the juxtaposed direction of both hemming devices 16R, 16L, the workpiece loading robot 17 is shifted to the right door hemming device 16R side or the left door hemming device 16L side. Even without this, the right door WR and the left door WL can be alternately put on the hemming devices 16R and 16L without causing interference with the support column. In addition, since there is a column 164 in the middle of the payout side surface of both hemming devices 16R and 16L, separate work payout robots (not shown) for the right door and the left door are provided, and each hemming is provided. The doors WR and WL are paid out from the devices 16R and 16L.
[0022]
Each of the robots 8, 9, 12, 14, and 17 includes a robot body RB that can turn around a vertical axis, a first robot arm RA1 that is swingably attached to an upper end of the robot body RB about a horizontal axis, It is composed of a six-axis robot having a second robot arm RA2 attached to the tip of one robot arm RA1 so as to be swingable around a horizontal axis, and a wrist RR having a three-axis structure attached to the tip of the second robot arm RA2. The robot hands 80, 90, 120, 140, and 170 are attached to the wrists RR that are the operation ends of the robots 8, 9, 12, 14, and 17, respectively.
[0023]
As shown in FIG. 3, the robot hand 120 of the transfer robot 12 shared by the door inner WRI for the right door and the door inner WLI for the left door has a predetermined one of a plurality of holes opened in the inner panels of the door inner WRI and WLI. First to third three holding tools 121 ₁ , 121 ₂ , 121 ₃ for holding the hole edges of the three holes WIa, WIb, WIc are suspended. As shown in FIGS. 4A, 4B, and 4C, these gripping tools 121 ₁ , 121 ₂ , and 121 ₃ include a fixed clamp arm 121a that abuts the upper surface of the hole edge of each hole WIa, WIb, and WIc, A movable clamp arm 121b that abuts the inner surface of the edge and sandwiches the hole edge with the fixed clamp arm 121a. The cylinder 121c opens and closes the movable clamp arm 121b with a shaft 121e as a fulcrum via a link 121d. I try to make it work.
[0024]
When gripping the door inner WRI for the right door shown by the solid line in FIG. 3, the hole edge portion of the first hole WIa which is the lower side in the vehicle body mounted state is the first gripper 121 ₁ , and the front edge is in the vehicle body mounted state. The hole edge portion of the second hole WIb is held by the second holding tool 121 ₂ , and the hole edge portion of the third hole WIc on the rear side in the vehicle body mounted state is held by the third holding tool 121 ₃ , respectively. When gripping the door inner WLI for the left door indicated by the phantom line, the robot hand 120 is turned by a predetermined angle θ with the movement of the wrist RR with respect to the door inner, and the hole edge of the first hole WIa is moved to the first gripper 121 _1. The hole portion of the third hole WIc is held by the second gripper 121 ₂ , and the hole line portion of the second hole WIb is gripped by the third gripper 121 ₃ . Note that the opening surface of the second hole WIb and the opening surface of the third hole WIc are not the same surface. Therefore, the second gripping tool 121 ₂ and the third gripping tool 121 ₃ are respectively attached to the robot hand 120. position adjustably and suspended vertically by a cylinder 121f against, vertical positional relationship between the door inner WRI and second gripper 121 ₂ and the third gripper 121 ₃ between the door inner part WLI for the left door for right door Is reversed.
[0025]
Similarly to the robot hand 120, the robot hand 80 of the transport robot 8 at the front stage of each inner work line 2L, 2R is configured to hold the door inner WRI, WLI at the hole edges of a plurality of holes in the inner panel, The robot hand 90 of the transport robot 9 at the rear stage is configured to grip the door inners WRI and WLI at the peripheral edge of the inner panel that does not overlap with the grip location of the transport robot 8 at the front stage. A door inner stand is provided at the delivery position 2a and the payout position 2b, and after the door inner is placed on the stand at the delivery position 2a and the payout position 2b by the transport robot 8 at the front stage and the transport robot 9 at the rear stage, the transport robot at the rear stage is provided. 9 and the sub-assembly inner transfer robot 12 can also pick up the door inner from the table at the delivery position 2a and the payout position 2b. In this case, the robot hand 90 of the subsequent transfer robot 9 also moves the door inner to the inner panel. It can be configured to be of a type that is gripped at the hole edges of the plurality of holes. A plurality of suction cups 141 are attached to the robot hand 140 of the outer assembly robot 14 for sub-assembly, and the outer panels WRO and WLO are sucked and held by the suction cups 141 on the outer surface thereof.
[0026]
As shown in FIGS. 5 and 6, the robot hand 170 of the workpiece input robot 17 includes first to third grippers 171 ₁ that grip the bending edge portions WOa on the three sides around the outer panels WRO and WLO. 171 ₂ and 171 ₃ are suspended.
[0027]
Each gripping tool 171 ₁ , 171 ₂ , 171 ₃ includes a pair of gripping claws 171 _b and 171 c as shown in FIG. 7 that are opened and closed by a cylinder 171 a via a toggle link mechanism (not shown). A convex portion 171d is provided on one side of 171b and 171c, and a concave portion 171e is provided on the other side, and the bent edge portion WOa of the outer panels WRO and WLO is partially deformed and gripped between the convex portion 171d and the concave portion 171e. ₁ , 171 ₂ , and 171 ₃ can reliably prevent the bent edge WOa from sliding off due to the weight of the door. When the bending edges WOa of the outer panels WRO and WLO are gripped by the gripping tools 171 ₁ , 171 ₂ , and 171 ₃ , the inner gripping claws 171 b also function as work pressers that prevent the door inner WRI and WLI from being lifted, and the outer panel WRO , The position of the door inner WRI, WLI relative to WLO is prevented.
[0028]
Thus, in the sub-assembly station 4, the inner panels WRO and WLO held by the outer transfer robot 14 are combined with the door inner WRI and WLI by the inner transfer robot 12, and then the transfer robot 12 is retracted and the workpiece input robot 17 When the robot hand 170 is swung into the subassembly station 4 and the bent edges WOa of the outer panels WRO and WLO are gripped by the gripping tools 171 ₁ , 171 ₂ and 171 ₃ , the subassembled doors WR and WL are moved to the workpiece input robot 17. Can be received.
[0029]
One cycle of hemming processing of each door WR, WL includes a loading process of loading the doors WR, WL into the hemming devices 16R, 16L and setting the hemming die 162, and a mold clamping process of lowering the ram 160 and clamping the mold. , A pressure holding process for holding the ram 160 in the lowered position, a mold opening process for raising the ram 160 to open the mold, and lifting the doors WR and WL from the hemming die 162 and paying out from the hemming devices 16R and 16L. It takes about 20 seconds from the start of the mold clamping process to the end of the mold opening process.
[0030]
In the present embodiment, the mold clamping of the left door hemming device 16L is performed while the right door WR is discharged from the right door hemming device 16R and the next right door WR is inserted into the hemming device 16R. , Pressurization hold and mold opening, and then while the left door WL is discharged from the left door hemming device 16L and the next left door WL is inserted into the hemming device 16L, The door hemming device 16R is clamped, held with pressure, and opened, and the above operations are repeated to alternately hemm the right door WR and the left door WL.
[0031]
FIG. 8 shows the timing of each process of mold clamping, pressurization hold, mold opening, door dispensing, and door insertion. The time taken from the start of the mold clamping process to the end of the mold opening process is defined as T1. In order to manufacture the right door WR and the left door WL alternately at time intervals, the time T2 required from the door opening to one of the hemming devices 16R and 16L to the door opening to the other should be T1 or less. Is required. Here, when the workpiece loading robot 17 is shifted to the right door hemming device 16R side and the left door hemming device 16L side and the respective doors WR and WL are loaded into the hemming devices 16R and 16L, T2 is set to T1 or less. However, in this embodiment, since the doors WR and WL can be loaded into the hemming devices 16R and 16L without shifting the workpiece loading robot 17 as described above, T2 can be shortened to T1 or less. Thus, the right door WR and the left door WL can be alternately and efficiently manufactured at the time interval of T1.
[0032]
In the above embodiment, the door inners WRI and WLI are transported by the robots 8 and 9 in the inner work lines 2R and 2L. However, the door inners WRI and WLI can also be transported by a conveyor. A common outer transport device that transports the outer panels WRO and WLO from the outer charging station 3 to the sub-assembly station 4 may be configured by a conveyor. However, it is advantageous to transfer the door inner and outer panel by the robot as in the above embodiment because the degree of freedom in designing the line layout is increased.
[0033]
Further, in the above embodiment, the present invention is applied to an apparatus for manufacturing a right door WR and a left door WL for a vehicle. However, before and after a vehicle to be hemmed, such as a bonnet and a trunk lid, or a bonnet and a tailgate. The present invention can be similarly applied to the manufacture of the lid workpiece.
[0034]
【The invention's effect】
As is apparent from the above description, according to the present invention, two types of workpieces can be alternately loaded into both hemming devices without shifting the workpiece loading robot, and the time required for the workpiece loading process can be shortened and the efficiency can be improved. I can plan up.
[Brief description of the drawings]
FIG. 1 is a plan view of an example of the apparatus of the present invention. FIG. 2 is a front view of a hemming station viewed from the direction of arrow II in FIG. 1. FIG. 3 is a plan view of a robot hand of an inner transfer robot. 3 is a cross-sectional view taken along line IVA-IVA in FIG. 3, (B) a cross-sectional view taken along line IVB-IVB in FIG. 3, and (C) a cross-sectional view taken along line IVC-IVC in FIG. FIG. 6 is a front view of the robot hand viewed from the direction of arrow VI in FIG. 5. FIG. 7 is an enlarged view of the lower end portion of the gripping tool suspended from the robot hand in FIG. Timing chart showing timing [Explanation of symbols]
WR, WL Door (work)
WRI, WLI Door inner (Inner member)
WRO, WLO Outer panel (outer member)
16R, 16L Hemming device 160 Ram 161 Hydraulic cylinder 163, 164 Post 165 Upper beam 17 Work loading robot

Claims (1)

A hemming work workpiece manufacturing apparatus for manufacturing two types of workpieces having different shapes formed by integrating an outer member and an inner member by hemming processing,
A first hemming device adapted to the first type of work and a second hemming device adapted to the second type of work are arranged side by side;
A common workpiece loading robot that alternately loads a first type of workpiece and a second type of workpiece, which are sub-assembled by combining an outer member and an inner member, into the first hemming device and the second hemming device. In what provides
Each hemming device has a structure in which struts are erected only at the two corners at diagonal positions, and a ram is suspended from the upper beam on the diagonal line between both struts via a hydraulic cylinder. And
Both hemming device, juxtaposed to beam onto the two hemming device are combined in a V-shape to diverging toward the placement side of the work piece introducing robot,
The workpiece feeding robot is arranged in the middle part of both hemming devices in the side-by-side direction, and the workpiece is loaded into the other hemming device while one hemming device is machining the workpiece. Manufacturing equipment.

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