JP4617249B2 - Hemming processing method and hemming processing apparatus - Google Patents

Description

  The present invention relates to a hemming method and a hemming apparatus for bending a flange provided at an end portion of a workpiece.

  For example, hemming may be performed on the bonnet, trunk, door, and wheel house edge of an automobile by bending a flange on which the edge of the panel stands up toward the inside of the panel. Examples of the hemming process include a roll hemming process in which a panel is positioned and held on a fixed mold and bent while pressing a roller against a flange at an end of the panel. In roll hemming (hereinafter simply referred to as hemming), since the bending angle is large, the bending may be performed through a plurality of steps including pre-bending (pre-hemming) and finishing bending (main hemming) in consideration of bending accuracy. is there.

  As such hemming processing, a work is set in a die provided in a dedicated space to perform a dedicated process, and hemming is performed by rolling a unit held at the tip of the robot along a flange. A method has been proposed (see, for example, Patent Document 1 and Patent Document 2).

Japanese Patent Laid-Open No. 7-60370 Japanese Patent No. 2924569

  By the way, in the recent automobile industry, it is desired to develop products in a short period of time and to manufacture many types of cars at the same time. From the viewpoint of further improving productivity and shortening cycle time, Therefore, it is desired to increase the rolling speed of the roller and shorten the hemming time.

  However, in the method described in Patent Document 1, the movement of the pressing roller, which is a roller for hemming, is controlled only by the movement of the robot, and in particular, the posture of the pressing roller during preliminary bending. In addition, it is difficult to regulate the pressing force. For example, when the rolling speed of the pressing roller is increased, there is a possibility that a processing defect such as excessive bending or undulation of the flange may occur.

  In the method described in Patent Document 2, a guide portion for guiding the rolling direction of a hem roller, which is a roller for hemming, is provided, but only one guide groove is provided. Therefore, different hemming rollers must be used for preliminary bending and finishing bending, and extra time is required for roller replacement. In addition, when the rolling speed of the hem roller is increased, the robot movement trajectory and the teaching trajectory (guide groove guide direction) are greatly displaced, and the friction between the guide portion and the guide groove increases. There is a risk that the part rides up from the guide groove. Further, since the hem roller and the guide portion are integrally configured coaxially, when the guide portion rides from the guide groove, the hem roller floats from the flange, resulting in an extreme processing defect. There is a fear.

  In the method described in Patent Document 2, the roller shaft that integrally supports the hem roller and the guide unit coaxially and integrally is configured to move up and down while maintaining a horizontal state by a universal joint. At the time of positioning before hemming, the guide portion can be moved downward and installed in the guide groove by a clamping cylinder that is provided between the universal joint and the guide portion and moves the roller shaft up and down. However, at the time of hemming, the roller shaft is fixed to the wrist part of the robot by the pressing force of the holding cylinder, so that the friction between the guide portion and the guide groove increases as described above. The part rides up from the guide groove, and the hem roller floats from the flange, which may cause extreme processing defects.

  The present invention has been made in consideration of such problems, and a hemming method capable of accurately and rapidly following a roller along a flange by supporting the roller flexibly during hemming. And it aims at providing a hemming processing apparatus. Furthermore, the present invention provides a hemming processing method and a hemming processing apparatus capable of quickly positioning a roller before hemming even in a configuration in which the roller is flexibly supported during hemming as described above. Objective.

  The hemming method of the present invention is a hemming method for performing hemming using a hemming roller that is displaceably supported by a moving mechanism with respect to a workpiece flange. When approaching a workpiece, the displacement of the hemming roller relative to the moving mechanism is restricted, and during the hemming process, the hemming roller is displaceable relative to the moving mechanism.

  As described above, when the hemming roller is brought close to the workpiece, the displacement of the hemming roller with respect to the moving mechanism is regulated so that the hemming roller is accurately and quickly positioned without causing shaking or rattling. be able to. Further, when the hemming process is performed, the hemming roller can be displaced with respect to the moving mechanism, so that the hemming roller can follow the workpiece flange more quickly and accurately.

  Further, when a receiving roller that sandwiches the workpiece together with the hemming roller and is supported by the moving mechanism so as to be displaceable, the hemming roller and the receiving roller are displaced relative to the moving mechanism when the hemming roller is brought close to the workpiece. When the hemming process is performed, the hemming roller and the receiving roller are displaced with respect to the moving mechanism while maintaining a predetermined pressure or distance between the hemming roller and the receiving roller. It is preferable to be in a free state.

Thereby, the positioning when the hemming roller is brought close to the workpiece can be made more accurate and rapid. In addition, at the time of hemming, the hemming roller can follow the workpiece flange more quickly and accurately, and more uniform hemming can be performed.

  The hemming processing apparatus of the present invention includes a hemming roller that performs hemming processing on a workpiece flange, a receiving roller that sandwiches the workpiece together with the hemming roller, and a movable mechanism that moves the hemming roller and the receiving roller toward and away from each other. A floating mechanism for supporting the hemming unit and a moving mechanism for moving the hemming unit to a predetermined position, and movably connecting the hemming unit to the moving mechanism. It is characterized by providing.

  As described above, by using the floating mechanism that displaceably connects the hemming unit to the moving mechanism, the hemming roller can follow the flange more quickly and accurately.

  In addition, if a restricting unit capable of restricting the displacement of the hemming unit by the floating mechanism with respect to the moving mechanism is provided, the action of the floating mechanism can be restricted according to the work process.

  Further, the movable mechanism is configured to be displaceable in a direction in which the hemming roller and the receiving roller are moved closer to and away from the base, which is connected to the moving mechanism via the floating mechanism. A movable portion provided with a rotating shaft of the hemming roller or a rotating shaft of the receiving roller, and the restricting means is provided in a first locking portion provided in the movable portion and the moving mechanism, It is good also as what has a 2nd latching | locking part engaged with a said 1st latching | locking part.

  By adopting such a configuration, the use and regulation of the floating mechanism can be controlled with a simpler configuration, and the apparatus can be simplified and reduced in cost.

  According to the present invention, it is possible to cause the roller to follow along the flange at high speed and accurately, and it is possible to shorten the hemming processing time and avoid processing defects. Furthermore, according to the present invention, the hemming roller can be quickly positioned with respect to the workpiece before hemming, and the cycle time can be shortened.

  Hereinafter, the hemming processing method according to the present invention will be described in detail with reference to the accompanying FIGS. 1 to 11 by citing preferred embodiments in relation to a hemming processing apparatus that performs the hemming processing method.

  FIG. 1 is a schematic perspective view for explaining a state in which hemming is performed on a flange of a wheel arch portion of a vehicle by a hemming apparatus as an embodiment of the present invention. The hemming processing device 10 according to the present embodiment is set to a mid-process in a production line 14 for assembling and processing a vehicle 12 as a workpiece in a so-called white body state, and the wheel arch portion 16 on the left rear wheel side is set. This is an apparatus for performing hemming on the flange 17. The wheel arch portion 16 has a substantially arc shape of approximately 180 °. In a state before processing by the hemming device 10, the flange 17 has a bent shape of 90 ° inward from the end portion 16 a (see the two-dot chain line portion in FIG. 7) of the wheel arch portion 16.

  As shown in FIG. 1, the hemming processing apparatus 10 is a moving mold 18 that is brought into contact with the wheel arch portion 16 of the vehicle 12 and a moving mechanism that moves the moving mold 18 and supports the hemming unit 20 at the tip. A robot 22, a photoelectric sensor 23 that detects that the vehicle 12 has been transported to a predetermined position in the production line 14, and a controller 24 that performs overall control.

  The robot 22 is an industrial articulated type, and can move the hemming unit 20 to an arbitrary position and an arbitrary posture by a program operation. Further, a storage table 26 on which a plurality of types of moving molds 18 corresponding to the type of the vehicle 12 is arranged is provided in the vicinity of the robot 22, and position data of the storage table 26 is stored in the controller 24. Yes. The controller 24 is connected to an external production management computer (not shown) that controls the operation of the production line 14, and information indicating the type of the vehicle 12 conveyed on the production line 14 is supplied to the controller 24.

  As shown in FIG. 2, the hemming unit 20 is supported through a bracket 22a fixed to the tip of the robot 22, and is housed in an outer box 21 attached to the bracket 22a. A hemming roller 30 provided so as to protrude from the hole 21a on the upper surface of the upper surface, and a guide roller 32 as a receiving roller. Further, a chuck 34 is provided on the front end surface of the outer box 21. The chuck 34 has a pair of fingers 36 that open and close under the action of the controller 24, and is used for moving the movable mold 18.

  The hemming roller 30 and the guide roller 32 are rotatably supported with respect to the support shafts 30a and 32a. Further, the hemming roller 30 and the guide roller 32 are movable in the X direction (the direction in which the support shafts 30a and 32a are arranged), and the hemming roller 30 is adjusted by adjusting the distance between the support shaft 30a and the support shaft 32a. Further, it is possible to apply pressure to a member sandwiched between the guide rollers 32. Further, the hemming roller 30 and the guide roller 32 are supported by the robot 22 via a floating mechanism described later, and maintain the relative positions in the X direction and the Y direction (axial directions of the support shafts 30a and 32a). It is movable, and is moved freely and elastically by an external force. That is, the support shaft 30a and the support shaft 32a can move in conjunction with the X direction while maintaining the adjusted interval.

  The hemming roller 30 includes a tapered roller 38 provided on the distal end side and a cylindrical roller 40 provided integrally with the tapered roller 38 and provided on the proximal end side. The taper roller 38 is a tapered truncated cone inclined at 45 ° in a side view, and the ridge line length L1 (see FIG. 7) is set slightly longer than the height H of the flange 17. The cylindrical roller 40 has a cylindrical shape slightly larger in diameter than the maximum diameter portion on the proximal end side of the tapered roller 38.

  The guide roller 32 has a disk shape with a narrow periphery, and can be engaged with a first groove 52 or a second groove 54 (see FIG. 7) provided in the movable mold 18. That is, by the first groove 52 and the second groove 54 and the guide roller 32 acting as a guide member, the Y direction that is the axial direction of the support shaft 30a of the hemming roller 30 and the X direction that is the direction in which the support shafts 30a and 32a are aligned. The hemming roller 30 is guided along the flange 17 while restricting the displacement with respect to the flange 17. Further, the Y direction position of the guide roller 32 coincides with the position of the center (L2 / 2) of the height L2 of the cylindrical roller 40 of the hemming roller 30 (see FIG. 7).

  Here, the hemming unit 20 will be described in detail with reference to FIGS. 3 is a perspective view of the hemming unit 20, FIG. 4 is a partial cross-sectional side view showing the hemming unit 20 before hemming, and FIG. 5 is a partial cross-section showing the hemming unit 20 during hemming. It is a side view. 3 to 5, the outer box 21 is illustrated in a transparent manner by a two-dot chain line so that the structure of the hemming unit 20 can be visually recognized.

  The hemming unit 20 includes a hemming roller 30 and a guide roller 32, support shafts 30a and 32a that support the hemming roller 30, a first movable portion 100 as a movable portion having the support shaft 30a on the upper end surface, and a support shaft 32a. A rod 104 is connected to the second movable portion 102 as a movable portion on the end face, and the first movable portion 100 and the side surfaces 100a and 102a facing each other at the lower part of the second movable portion 102, and the first movable portion. 100 and the second movable part 102 are connected to each other and a cylinder 106 that is displaced in the X direction and a base 110 that supports the first movable part 100, the second movable part 102, and the cylinder 106 with respect to the robot 22 are provided.

  The base 110 has a substantially U-shaped shape with a lower side longer than the upper side in a side view (see FIG. 4). The base 110 is fixed to the bracket 22a and is substantially U-shaped in a side view (see FIG. 4). A third movable portion 114 that is supported to be displaceable in the Y direction via a linear guide 112 with respect to the second rail 25 that is extended and supported in the Y direction by the support member 22b of the mold, and the third movable portion 114 A rectangular base 116 protruding from the slightly lower center of the Y direction toward the X direction, a rectangular tip support member 118 provided on the tip surface of the base 116, and a base from the top of the third movable portion 114. A rectangular flat plate 120a projecting in a direction parallel to 116, and a rectangular partition 120b provided in parallel to the third movable portion 114 at the tip of the flat plate 120a. Further, in the Y direction from the side surface 102b on the third movable portion 114 side in the upper portion of the second movable portion 102 and the tip end portion of the extension portion 122 extending from the second movable portion 102 to the third movable portion 114 side, The first support means 126 and the second support means 127 are arranged in series between the side surface 124a of the support member 124 that protrudes so as not to come into contact with the flat plate 120a, and a partitioning portion is provided so as to partition between these. 120b is provided.

  A first rail 128 extends in parallel with the base 116 in the upper space of the base 116 where the third movable portion 114 and the tip support member 118 face each other. The first movable unit 100 and the second movable unit 102 are supported by the first rail 128 so as to be displaceable in the X direction via linear guides 130 and 132, respectively. That is, the 1st movable part 100 and the 2nd movable part 102 are supported by the base 110 via the linear guides 130 and 132, etc., and these function as a movable mechanism. Further, the second movable portion 102 is supported by the first support means 126 and the second support means 127 in a passive and elastic manner in the X direction by interposing the partition portion 120b as described above. That is, when the second movable part 102 is displaced in a direction away from the first movable part 100, the second support means 127 is contracted by the partition part 120 b, and the second movable part 102 approaches the first movable part 100. When displaced, the first support means 126 is contracted by the partition 120b.

  Further, the laterally projecting portion 22c protruding from the lower end face of the support member 22b in the X direction and the base 116 are supported and elastically supported by the third support means 138. The third support means is provided as a pair so as to connect the lateral portion 22c and both side end portions of the base 116, but the lateral portion 22c and the center portion of the base 116 in the width direction are coupled. Of course, it may be one.

  Also, the first support means 126, the second support means 127, and the third support means 138 are all similar in configuration, and the first support means 126 is installed around the shaft portion 126a and the shaft portion 126a. The second support means 127 includes a shaft portion 127a and a spring 127b disposed around the shaft portion 127a. Similarly, the 3rd support means 138 is comprised from the axial part 138a and the spring 138b installed in the circumference | surroundings of this axial part 138a. In addition, you may comprise each said shaft part 126a, 127a, 138a with a hydraulic damper, a pneumatic damper, etc., for example.

  Since the first support means 126 and the second support means 127 have the above-described configuration, as described above, the second movable portion 102 is supported by the linear guide 132 so as to be displaceable in the X direction with respect to the base portion 110. At the same time, the first support means 126 and the second support means 127 are passively and elastically supported by the base portion 110 via the partition portion 120b in the X direction. Similarly, since the third support means has the above-described configuration, the base 116 is supported in a Y direction in a passive and elastic manner with respect to the lateral portion 22c fixed to the robot 22 by the third support means. Is done.

  By the way, the second movable portion 102 has one side surface 102a extending downward and the other side surface 102c, and a first stopper 134 as a first locking portion is provided on the other side surface 102c. The first stopper 134 is provided so as to be freely engageable with a second stopper 136 provided at the tip of the lateral portion 22c. That is, the tip of the first stopper 134 is a substantially frustoconical protrusion, and the second stopper 136 is a substantially mortar-like recess into which the tip of the first stopper 134 can be inserted. For this reason, as shown in FIG. 4, the rod 104 of the cylinder 106 extends and the gap between the hemming roller 30 and the guide roller 32 is maximized, that is, hemming before or after hemming, which will be described later. In a state where the roller 30 is separated from the vehicle 12, the first stopper 134 and the second stopper 136 are engaged. On the other hand, as shown in FIG. 5, the rod 104 of the cylinder 106 is retracted, and the gap between the hemming roller 30 and the guide roller 32 is held, that is, the hemming roller 30 in the hemming process described later is In the state of contact, the first stopper 134 and the second stopper 136 are not engaged.

  The first movable unit 100 is connected to the cylinder 106 when the rod 104 of the cylinder 106 is extended and the first stopper 134 and the second stopper 136 are engaged (see FIG. 4). 104 is contacted and supported by the tip support member 118 by a pressing force in a direction opposite to the second movable portion 102 side. On the other hand, in a state where the rod 104 of the cylinder 106 is retracted and the first stopper 134 and the second stopper 136 are not engaged (see FIG. 5), the first movable portion 100 is moved to the second movable portion 102 by the rod 104. It is held in a state of being close to the second movable portion 102 by the attractive force toward the side.

  The hemming unit 20 in the present embodiment is configured as described above. Therefore, as shown in FIG. 5, in a state where the first stopper 134 and the second stopper 136 are not engaged, the first movable portion 100 and the second movable portion 102 are interposed via the linear guides 130 and 132. The base portion 110 is supported so as to be integrally displaceable in the X direction, and the displacement in the X direction is supported by the first support means 126 and the second support means 127 in a passive and elastic manner. As described above, the base 110 that supports the first movable unit 100 and the second movable unit 102 is supported by the robot 22 so as to be displaceable in the Y direction via the linear guide 112, and the Y direction. The displacement to is supported by the third support means 138 in a passive and elastic manner. Accordingly, in this case, the first movable unit 100 and the second movable unit 102, in other words, the hemming roller 30 and the guide roller 32 are driven in a freely displaceable manner in the X direction and the Y direction with respect to the robot 22. And it will be elastically supported. That is, the linear guides 112, 130, and 132, the first support means 126, the second support means 127, and the third support means 138 act as a floating mechanism interposed between the hemming unit 20 and the robot 22, and hemming The followability of the guide roller 32 to the first groove 52 or the second groove 54 during processing is significantly improved, and the hemming roller 30 can follow the flange 17 at high speed and accurately. (See FIGS. 9 and 11).

  On the other hand, as shown in FIG. 4, when the first stopper 134 and the second stopper 136 are engaged, the displacement of the first movable portion 100 and the second movable portion 102 in the X direction is The output of the rod 104 is restricted, and the displacement of the base 110 in the Y direction is restricted by the engagement of the first stopper 134 and the second stopper 136. That is, in this case, the floating action by the floating mechanism is restricted, and the hemming roller 30 and the guide roller 32 are fixedly supported with respect to the robot 22. For this reason, for example, before the hemming process, when the hemming roller 30 and the guide roller 32 are positioned close to the vehicle 12 and the movable mold 18, the positioning is quickly performed by regulating the floating mechanism. Details will be described later.

  Next, the moving mold 18 will be described. As shown in FIG. 6, the moving mold 18 is configured based on a mold plate 49. The mold plate 49 has a plate shape, and the side contacting the wheel arch portion 16 is referred to as a front surface 49a (see FIG. 7), and the opposite surface is referred to as a back surface 49b. Further, as viewed from the end 16a of the wheel arch portion 16, the workpiece side (upper side in FIG. 7) is referred to as the inner side, and the opposite side (lower side in FIG. 7) is referred to as the outer side.

  The mold plate 49 has an arched plate shape in which the surface 49 a abuts around the wheel arch portion 16, and the surface 49 a is set to a three-dimensional curved surface that matches the surface shape of the vehicle 12. Therefore, when the movable mold 18 is attached to the wheel arch portion 16, the first groove 52 and the second groove 54 are disposed in parallel with the flange 17, and the surface 49a is in surface contact with the vehicle 12 over a wide area. To do.

  The moving mold 18 includes an outer arc portion 50 formed slightly outside the end portion 16a of the wheel arch portion 16, and a first groove 52 and a second groove provided in parallel along the outer arc portion 50 on the back surface 49b. The groove 54, the knob 56 provided on the back surface 49 b, the three clamp mechanisms 58 provided in the periphery, the pipe 60 for supplying and recovering the compressed fluid to the clamp mechanism 58, and the switching control of the fluid supply direction of the pipe 60 And a control valve 62 for performing the above. The control valve 62 is controlled by the controller 24. The first groove 52 is provided outside the end 16a of the flange 17 on the mold plate 49, and the second groove 54 is provided inside the end 16a.

  The moving mold 18 is small because it abuts only around the wheel arch portion 16. Further, since the vehicle 12 is in contact with the vehicle 12 from the side surface, the vehicle 12 is not added with a weight, and is not set to be a load-bearing structure, so that it is set to be lightweight. Therefore, the movable mold 18 can be easily moved by the robot 22 by gripping the knob 56 with the chuck 34 (see FIGS. 1 and 2).

  The clamp mechanism 58 includes a stay 64 that extends from the end of the mold plate 49, a cylinder 66 that is swingable with respect to the stay 64, and an opening / closing lever that tilts about a support shaft provided on the stay 64. 68. One end of the opening / closing lever 68 is a grip portion 68a that engages and holds the reference position of the vehicle 12, and the opposite end portion is rotatably coupled to the rod 66a of the cylinder 66 via a support shaft. Yes. That is, when the rod 66a of the cylinder 66 is extended, the opening / closing lever 68 is closed and the vehicle 12 is held by the grip portion 68a, and when the rod 66a is retracted, the opening / closing lever 68 is opened (two-dot chain line portion in FIG. 6). Reference) The moving mold 18 can be moved closer to or away from the vehicle 12. In the vehicle 12, the stop position on the production line 14 may slightly deviate from the specified value, but the moving mold 18 is accurately positioned with respect to the wheel arch portion 16 by the clamp mechanism 58.

  When the movable mold 18 is fixed to the wheel arch portion 16 by the clamp mechanism 58, the outer arc portion 50 is located outside the lower end 16a of the wheel arch portion 16 (lower side in FIG. 7) as shown in FIG. Be placed. The first groove 52 is slightly outside the end portion 16a, and the second groove 54 is inside the end portion 16a. That is, the 1st groove | channel 52 and the 2nd groove | channel 54 are arrange | positioned in parallel along the edge part 16a in the substantially symmetrical position on the basis of the edge part 16a.

  Next, a processing method for performing hemming on the flange 17 of the wheel arch portion 16 using the hemming processing apparatus 10 configured as described above will be described with reference to FIG. The process shown in FIG. 8 is executed by the moving mold 18, the hemming unit 20, and the robot 22 mainly under the control of the controller 24.

  First, in step S1, after confirming the vehicle type information of the next transported vehicle 12 from the production management computer, the robot 22 returns the currently held movable mold 18 to the specified position of the storage base 26. Another moving mold 18 corresponding to the vehicle type is gripped by the chuck 34. If the corresponding moving mold 18 is already held, this transfer operation is not necessary. Also, when a plurality of vehicles 12 of the same vehicle type are continuously conveyed, the moving mold 18 is held. Of course, there is no need to change.

  In step S2, the signal of the photoelectric sensor 23 is confirmed, and it waits until the vehicle 12 is conveyed. The vehicle 12 is conveyed by the production line 14 and stops at a predetermined position in the vicinity of the robot 22. When the conveyance of the vehicle 12 is confirmed by the photoelectric sensor 23, the process proceeds to step S3.

  In step S3, the robot 22 is operated to bring the surface 49a of the moving mold 18 into contact with the wheel arch portion 16 of the vehicle 12, and the control valve 62 is switched to close the open / close lever 68 of the clamp mechanism 58. Thereby, the moving mold 18 is attached to the wheel arch portion 16 and is accurately positioned and fixed. That is, in this step S3, the vehicle 12, which is a large heavy object, is completely stopped, and the positioning and fixing can be easily performed by bringing the small and light movable mold 18 closer.

  Note that the robot 22 may be approached while correcting the moving path of the robot 22 while checking the relative position of the moving mold 18 with respect to the wheel arch portion 16 in real time by a predetermined sensor. In addition, positioning may be performed by providing a reference pin on the movable mold 18 and inserting the reference pin into a predetermined reference hole of the vehicle 12. Of course, these positioning means may be used in combination.

  In step S <b> 4, after opening the finger 36 of the chuck 34, the hemming unit 20 is once separated from the moving mold 18.

  In step S <b> 5, after changing the direction of the hemming unit 20, the guide roller 32 is engaged with the first groove 52 by approaching the outer arcuate portion 50 of the moving mold 18 and positioning.

  At this time, in the hemming unit 20, the first stopper 134 and the second stopper 136 are engaged with the rod 104 of the cylinder 106 extended. As a result, the hemming roller 30 and the guide roller 32 are separated as much as possible, and the flange 17 and the mold plate 49 can be easily inserted into the separated portion. By maintaining the state in which the floating action in the unit 20 is restricted, the hemming roller 30 and the guide roller 32 are positioned in a state of being integrally fixed to the robot 22 without causing shaking or rattling. The That is, in the hemming apparatus 10 of this embodiment, the hemming roller 30 and the guide roller 32 are sufficiently separated from each other only by extending the rod 104 of the cylinder 106, and at the same time, the floating mechanism is restricted and the hemming roller 30 is restricted. In addition, the positioning performance of the hemming unit 20 including the guide roller 32 can be prevented easily and with excellent positioning performance.

  For this reason, the hemming roller 30 and the guide roller 32 can be positioned quickly and accurately, and the cycle time can be shortened. In step S4 as well, as in step S5, the floating action in the hemming unit 20 may be regulated. In this case, the hemming unit 20 is shaken or distorted during the moving operation of the robot 22. It is possible to suppress the generation of abnormal noise and vibration at the tip of the robot 22 due to the sticking.

  In step S6, the rod 104 of the cylinder 106 is retracted to bring the guide roller 32 and the hemming roller 30 closer to each other, and the movable mold 18 is sandwiched between the guide roller 32 and the cylindrical roller 40 as shown in FIG. At this time, the flange 17 is pressed by the taper roller 38 and bent at an angle of 45 ° along the conical surface. Further, as apparent from FIG. 7, the distance between the guide roller 32 and the cylindrical roller 40 is defined by the width w between the bottom of the first groove 52 and the surface 49a, and does not approach too much. Therefore, the flange 17 is not bent or waved more than a specified amount. Further, since the guide roller 32 and the cylindrical roller 40 are disposed to face each other so that the positions in the Y direction coincide with each other, the movable mold 18 can be securely sandwiched. As a result, no moment force is applied to the movable mold 18, and elastic deformation and displacement are prevented from occurring.

  At this time, simultaneously with the pressing operation of the taper roller 38 against the flange 17 due to the contraction of the rod 104 of the cylinder 106, the engagement between the first stopper 134 and the second stopper 136 is released, and the hemming unit 20 The regulation of the floating mechanism is released. That is, the hemming processing apparatus 10 of the present embodiment performs a pressing operation to the flange 17 by the taper roller 38 by a simple operation of retracting the rod 104 of the cylinder 106, and further, the restriction of the floating mechanism is released. It is possible to prepare for the hemming process described in the step.

  In step S7, as shown in FIG. 9, the first hemming step of bending the flange 17 in an inward direction by 45 ° is performed by rolling while engaging the guide roller 32 in the first groove 52. . That is, while maintaining the pressure and distance between the hemming roller 30 and the guide roller 32 at predetermined values, the flange 17 is continuously bent by the conical surface of the taper roller 38 while rotating in the opposite directions. Then, the first hemming process is performed. At this time, since the hemming roller 30 and the guide roller 32 are supported by the floating mechanism as described above, the hemming roller 30 and the guide roller 32 can be displaced in the X direction and the Y direction while maintaining the relative positions. Even if there is a slight error, the guide roller 32 can accurately follow the first groove 52, and therefore the rolling speed of the hemming roller 30 and the guide roller 32 can be increased. Become.

  Therefore, the taper roller 38 can press and deform the flange 17 in a specified direction. Further, the operation accuracy of the robot 22 need not be extremely high, and the operation speed can be increased and the control procedure can be simplified. The hemming process by the first hemming process is performed over the entire length of the flange 17.

  In step S8, as shown by the two-dot chain line portion in FIG. 10, the rod 104 of the cylinder 106 is slightly extended, and the distance between the hemming roller 30 and the guide roller 32 is slightly increased to be separated from the vehicle 12 and the moving mold 18. Let In this case, when the rod 104 of the cylinder 106 is extended to the maximum extent, the floating mechanism of the hemming unit 20 is restricted, and positioning in the following step S9 can be quickly performed. Considering that the moving distance of the hemming unit 20 in step S9 is relatively short, the rod 104 is slightly extended as described above.

  In step S9, the hemming roller 30 and the guide roller 32 are moved in the arrow Y1 direction by moving the hemming unit 20. This moving distance is equal to the distance between the first groove 52 and the second groove 54.

  In step S <b> 10, the rod 104 of the cylinder 106 is retracted and the guide roller 32 is engaged with the second groove 54. Further, the guide roller 32 and the hemming roller 30 are brought close to each other, and the movable die 18 is sandwiched and pressed by the guide roller 32 and the cylindrical roller 40 as shown in FIG. Thus, the operation procedure for moving the guide roller 32 from the first groove 52 to the second groove 54 is simple, and it is only necessary to move the hemming unit 20 in the arrow Y1 direction while keeping the direction of the hemming unit 20 constant. Further, since the moving distance is relatively short, the transition is completed in a short time.

  At this time, the flange 17 is pressed by the cylindrical roller 40 and bent until it contacts the back surface of the wheel arch portion 16. That is, the flange 17 is further bent by 45 ° from the time of the first hemming step, that is, 90 ° from the initial angle.

  In step S11, as shown in FIG. 11, the second hemming process of bending the flange 17 until it comes into contact with the back surface of the wheel arch portion 16 by rolling while engaging the guide roller 32 in the second groove 54 is continued. Do it. That is, while maintaining the pressure and distance between the hemming roller 30 and the guide roller 32 at a predetermined value, the flange 17 is continuously rotated by the outer peripheral cylindrical surface of the cylindrical roller 40 while rotating in opposite directions. And the second hemming process is performed.

  In addition, since the second groove 54 is provided on the back surface 49b side of the mold plate 49, the flange 17 and the mold plate 49 are sandwiched between the cylindrical roller 40 and the guide roller 32 and reliably pressed. Does not disperse to other places and has no stopper to limit the applied pressure, and acts on the flange 17 in a concentrated manner. Thereby, the flange 17 is bent reliably.

  In the second hemming process, as in the first hemming process, the hemming roller 30 and the guide roller 32 move along an accurate path along the second groove 54 by the action of the floating mechanism, and the entire length of the flange 17 is processed. Is called.

  In step S12, as in step S8, the rod 104 of the cylinder 106 is retracted, and the distance between the hemming roller 30 and the guide roller 32 is slightly increased and separated from the moving mold 18. Further, the hemming unit 20 is once separated from the moving mold 18.

  In step S13, the moving mold 18 is opened. That is, after changing the direction of the hemming unit 20, the knob 56 is gripped by the chuck 34 by approaching the back surface 49 b, and the control valve 62 is switched to open the opening / closing lever 68 of the clamp mechanism 58.

  In step S14, standby processing is performed. That is, the robot 22 is moved to a predetermined standby position, and the moving mold 18 is separated from the vehicle 12. The controller 24 notifies the production management computer that the hemming process has been completed normally. Upon receipt of the notification, the production management computer confirms that other predetermined requirements have been met, drives the production line 14, and transports the vehicle 12 that has undergone hemming to the next step.

  As described above, according to the hemming processing method and the hemming processing apparatus according to the present embodiment, the hemming unit 20 including the hemming roller 30 and the guide roller 32 includes the linear guides 112, 130, and 132, the first support unit 126, Via the floating mechanism constituted by the second support means 127 and the third support means 138, in the X direction in which the support shaft 30a and the support shaft 32a are aligned, and in the axial direction of the support shaft 30a and the support shaft 32a. Since it is supported by the robot 22 so as to be displaceable in a certain Y direction, the followability of the guide roller 32 to the first groove 52 and the second groove 54 during hemming processing is remarkably improved, and the hemming roller 30 is attached to the flange 17. Accordingly, the guide roller 32 can be caused to follow the first groove 52 or the second groove 54 accurately. It is possible to avoid the case. Furthermore, the guide roller 32 can move following the first groove 52 accurately even if there is a slight error in the movement locus of the robot 22 by the floating mechanism. For this reason, the rolling speed of the hemming roller 30 and the guide roller 32 can be increased, and the working time required for hemming can be shortened.

  Furthermore, since the hemming apparatus 10 includes the first stopper 134 and the second stopper 136 that are regulating means for regulating the floating mechanism, it is possible to regulate the action of the floating mechanism according to each work process. Become. For this reason, by restricting the action of the floating mechanism when the hemming roller 30 and the guide roller 32 are positioned, the hemming roller 30 and the guide roller 32 are integrated with the robot 22 without shaking or rattling. It is possible to position accurately and quickly in a fixed state.

  Furthermore, according to the present embodiment, the floating mechanism according to each work process is used or integrated with the extending operation or the retracting operation of the rod 104 of the cylinder 106 that causes the hemming roller 30 and the guide roller 32 to approach and separate from each other. Regulations can be selected. That is, when the hemming roller 30 and the guide roller 32 are positioned, the first stopper 134 and the second stopper 136 are engaged by extending the rod 104 to keep the hemming roller 30 and the guide roller 32 apart. In combination, the floating mechanism is restricted. On the other hand, at the time of hemming, the rod 104 is retracted to keep the hemming roller 30 and the guide roller 32 close to each other, so that the engagement between the first stopper 134 and the second stopper 136 is released, and the floating mechanism is Comes to work. For this reason, in the hemming processing apparatus 10, the use and regulation of the floating mechanism are realized by a simple mechanism, and the apparatus can be simplified and reduced in cost.

  Further, according to the hemming processing apparatus 10, hemming can be performed by contacting the vehicle 12 conveyed on the production line 14 by using a small and lightweight moving mold 18. Space is not required. Further, since hemming is performed in the production line 14 as in other assembly and processing steps, there is no need to transport the vehicle 12 to another dedicated space only for hemming, and productivity is improved. Furthermore, according to the hemming processing apparatus 10, since the processing is performed while the moving mold 18 is brought into contact with the processing portion of the workpiece, it is applied regardless of the size of the workpiece. Since the moving mold 18 is small and light, a plurality of units can be stored in the storage table 26, and storage and management are easy. The robot 22 selects the moving mold 18 for the vehicle type and performs hemming. The versatility is improved.

  Furthermore, since the hemming roller 30 can be shared during the first roll hemming and the second roll hemming, it is not necessary to replace the rollers. Since the first groove 52 and the second groove 54 are provided on the back surface 49b side, the flange 17 and the mold plate 49 can be sandwiched and pressed by the cylindrical roller 40 and the guide roller 32 during the second hemming step. .

  Furthermore, according to the hemming processing apparatus 10, one robot 22 can be used as both the moving means for the moving mold 18 and the processing means for hemming.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is naturally possible to adopt various configurations without departing from the gist of the present invention.

  For example, in the above-described embodiment, in order to simplify the mechanism and control, the engagement operation of the first stopper 134 and the second stopper 136 as the regulating means of the floating mechanism is the approach and separation operation of the hemming roller 30 and the guide roller 32. Although it is made to operate integrally, the present invention is not limited to this, and the regulating means is configured to operate separately from the approaching and separating operations of the hemming roller 30 and the guide roller 32, and is controlled by the controller 24 or the like. You may make it do.

  The first groove 52 and the second groove 54 are not limited to the groove shape as long as they guide the guide roller 32. For example, the first groove 52 and the second groove 54 are annular grooves on the peripheral surface of the guide roller 32 as convex rails (guide strips). May be provided.

  In addition, the floating mechanism can be applied to devices other than the hemming processing device using the guide roller 32 as in the above embodiment. For example, in a device in which the guide roller 32 is omitted, the first movable unit 100 is omitted. If the hemming roller 30 is disposed on the upper end surface of the second movable portion 102, the tip support member 118 is extended downward, and the rod 104 of the cylinder 106 is fixed to the tip support member 118. Good. Furthermore, it is naturally possible to provide the floating mechanism so as to act only on either the guide roller 32 side or the hemming roller 30 side according to the use conditions of the hemming processing device.

  In the hemming processing apparatus 10 described above, an example in which hemming processing is performed on the wheel arch portion 16 of the left rear wheel in the vehicle 12 has been described. However, the present invention is not limited thereto, and corresponding moving molds are set for other locations. Of course, it becomes possible to apply. For example, examples of the application location where hemming is performed include a front wheel house edge, a door edge, a hood edge, and a trunk edge in the vehicle 12. Further, the roll hemming is not limited to the case where one thin plate is folded, but for example, by bending the flange 17, the end portion of the inner panel which is a separately provided thin plate may be sandwiched.

It is a schematic perspective view for demonstrating a mode that hemming is performed with respect to the flange of the wheel arch part of a vehicle with the hemming processing apparatus which concerns on one Embodiment of this invention. It is a perspective view of the hemming unit provided in the front-end | tip of a robot with the hemming processing apparatus which concerns on the said embodiment. It is a perspective view of the hemming unit which concerns on the said embodiment. It is a partial cross section side view which shows the hemming unit before a hemming process. It is a partial cross section side view which shows the hemming unit at the time of a hemming process. It is a perspective view of the movement metal mold | die fixed to the wheel arch part. It is an expanded sectional view of the VII-VII arrow shown in FIG. It is a flowchart which shows the procedure of the hemming processing method by the hemming processing apparatus which concerns on the said embodiment. It is a partial cross section perspective view of the wheel arch part, hemming roller, and guide roller of a vehicle at the time of performing the 1st hemming process. It is sectional drawing which shows the position of the hemming roller at the time of a 2nd hemming process, a guide roller, a flange, and a moving mold. It is a partial cross section perspective view of the wheel arch part, hemming roller, and guide roller of a vehicle at the time of performing the 2nd hemming process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Hemming processing apparatus 12 ... Vehicle 14 ... Production line 16 ... Wheel arch part 17 ... Flange 18 ... Moving mold 20 ... Hemming unit 21 ... Outer box 22 ... Robot 22b, 124 ... Support member 24 ... Controller 25 ... Second rail 26 ... Storage stand 30 ... Hemming roller 32 ... Guide roller 38 ... Tapered roller 40 ... Cylindrical roller 49 ... Mold plate 50 ... Outer arc portion 52 ... First groove 54 ... Second groove 58 ... Clamp mechanism 100 ... First movable portion 102 2nd movable part 104 ... Rod 106 ... Cylinder 110 ... Base part 112, 130, 132 ... Linear guide 114 ... 3rd movable part 116 ... Base 118 ... Tip support member 120a ... Flat plate 120b ... Partition part 122 ... Extending part 126 ... First support means 127 ... second support means 128 ... first rail 134 ... first stopper 136 ... first 2 stoppers 138 ... third support means

Claims (6)

A hemming method for performing a hemming process using a hemming roller supported movably by a moving mechanism with respect to a flange of a workpiece,
When the hemming roller is moved closer to the workpiece by the moving mechanism, the displacement of the hemming roller relative to the moving mechanism is regulated,
A hemming method, wherein the hemming roller is displaceable with respect to the moving mechanism during the hemming process. The hemming processing method according to claim 1,
Using a receiving roller that sandwiches the workpiece together with the hemming roller and is supported movably by the moving mechanism,
When the hemming roller is brought close to the workpiece, the displacement of the hemming roller and the receiving roller with respect to the moving mechanism is regulated,
At the time of the hemming process, the hemming roller and the receiving roller are displaceable with respect to the moving mechanism in a state where the pressure or distance between the hemming roller and the receiving roller is maintained at a predetermined value. A hemming method characterized by the above. The hemming processing method according to claim 1 or 2,
In the hemming process, the hemming roller is guided along the flange by a guide member that guides the hemming roller along the flange while restricting displacement of the hemming roller with respect to the flange in the rotation axis direction of the hemming roller. A characteristic hemming method. A hemming unit including a hemming roller that performs hemming on a flange of the workpiece, a receiving roller that sandwiches the workpiece together with the hemming roller, and a movable mechanism that moves the hemming roller and the receiving roller closer to and away from each other;
A supporting mechanism for supporting the hemming unit and moving the hemming unit to a predetermined position;
A floating mechanism for movably connecting the hemming unit to the moving mechanism;
Restriction means capable of restricting displacement by the floating mechanism with respect to the moving mechanism of the hemming unit;
A hemming processing apparatus comprising: The hemming processing apparatus according to claim 4 , wherein
The movable mechanism is configured to be displaceable in a direction in which the hemming roller and the receiving roller are moved toward and away from a base portion connected to the moving mechanism via the floating mechanism, and the hemming And a movable part provided with a rotating shaft of the roller or the rotating shaft of the receiving roller,
The restricting means includes a first locking portion provided in the movable portion, and a second locking portion provided in the moving mechanism and engaged with the first locking portion. Hemming processing equipment. In the hemming processing device according to claim 4 or 5,
A hemming apparatus comprising: a guide member that guides the hemming roller along the flange while restricting displacement of the hemming roller with respect to the flange in a rotation axis direction of the hemming roller.

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