JP5210805B2 - Roll hemming device - Google Patents

Description

  The present invention relates to a roll hemming device having a mold that contacts a surface opposite to the flange and supports the workpiece, and a hemming roller that bends the flange while rolling.

  Hemming processing is performed on the bonnet, trunk, door, and edge of the wheel house of an automobile by bending a flange from 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 mold and bent while pressing a roller against a flange at an end of the panel. In roll hemming, since the bending angle is large, the processing may be performed through a plurality of steps such as preliminary bending and finishing bending in consideration of bending accuracy.

  Examples of roll hemming include Patent Document 1 and Patent Document 2.

  Since the hemming roller rolls along the flange, for example, the hemming roller may be moved by a robot capable of programming operation.

  In order to roll the hemming roller along the flange more accurately, as disclosed in Patent Document 1, a guide groove is provided in the mold, and the hemming roller is engaged with the guide groove. It is good to roll.

JP-A-6-344037 JP 2006-110628 A

  In the roll hemming apparatus, it is desirable that the mold has an appropriate curved shape corresponding to the end face of the panel in order to bend the flange with high accuracy.

  By the way, in the automobile production process, it is assumed that hemming is performed on a plurality of vehicles having different panel surface shapes of the hemming portion in one production line. In addition, due to a model change or the like, the panel surface shape of the hemming portion may be changed even for substantially the same vehicle. In these cases, a die corresponding to each vehicle and each model (hereinafter referred to as a model) is prepared, and roll hemming is performed while exchanging depending on the model.

  However, in such a form, a considerable number of molds are required according to the number of models, and the management and replacement work becomes complicated.

  Moreover, since the guide groove as shown in Patent Document 1 is provided corresponding to a panel of a specific model, it is necessary to set a different path for each mold corresponding to the model.

  Furthermore, since the rolling path of the hemming roller differs depending on the mold, the moving means of the hemming roller must be changed. When the hemming roller is moved by a robot, it is not necessary to change the hardware, but the teaching data needs to be changed, and teaching work for each model is required.

  The present invention has been made in consideration of such problems, and an object of the present invention is to provide a roll hemming device that can be applied universally to a plurality of types of workpieces.

A roll hemming device according to the present invention comprises: a die that contacts a surface opposite to the flange and supports the workpiece with respect to a workpiece having a flange; and a hemming roller that bends the flange while rolling. a roll hemming apparatus having the mold, Ri surface elastic material der portions for supporting the workpiece, with roll in contact with the back surface of the mold, sandwich the flange together with the hemming roller A receiving roller, a hemming roller, a tool main body that supports the receiving roller, a moving means that moves the tool main body, and an advance / retreat that displaces the hemming roller relative to the tool main body independently of the receiving roller. And a controller for controlling the moving means and the advancing / retreating means, the controller operating the moving means Operation of the hemming roller based on the sub-teaching data selected according to the type of the work, having main teaching data for control and a plurality of sub-teaching data provided for each type of the work It is characterized by controlling .

  As described above, by providing an elastic material on the surface of the mold, when the flange is bent by the hemming roller, the hemming roller presses the work, so that the elastic material on the receiving side is elastic according to the surface shape of the work. The workpiece can be supported while being deformed. Thereby, roll hemming can be performed for a plurality of types of workpieces having different surface shapes and flange extending paths.

As described above, when the advancing / retreating means for displacing the hemming roller is provided, only the teaching data needs to be switched according to the type of workpiece, and the accuracy of the rolling path of the hemming roller according to the extension path of the flange is maintained high. Is done. Further, it is sufficient that the moving means perform the same operation, and when the moving means is a means that can be programmed like a robot, basically only one teaching data is sufficient.

  The mold has a guide part on the back surface, and the receiving roller can guide the hemming roller with high accuracy by rolling while being engaged with the guide part. In this case, since the hemming roller can be advanced and retracted in the axial direction by the advancing and retracting means in accordance with the guide portion, only one guide portion is required.

The mold, on the back, has a plurality of guide portions, the receiving roller, also be rolled while engaging against one of the plurality of the guide portion in accordance with the type of the workpiece Good. In this way, by providing a plurality of guide portions on the back surface of the mold according to the type of workpiece, the hemming roller can be accurately guided for each type.

  The elastic material may be rubber.

  According to the roll hemming device of the present invention, by providing an elastic material on the surface of the mold, when the flange is bent by the hemming roller, the hemming roller presses the workpiece, so that the receiving mold becomes a workpiece. The workpiece can be supported while elastically deforming in accordance with the surface shape. Therefore, it is possible to perform roll hemming for a plurality of types of workpieces having different surface shapes and flange extending paths.

  Hereinafter, the roll hemming device according to the present invention will be described with reference to FIGS.

  The roll hemming device 10a according to the first embodiment is set to a midway process in a production line 14 for assembling and processing a vehicle (workpiece) 12 in a so-called white body state, and a wheel arch portion on the left rear wheel side. It is an apparatus for performing roll hemming on 16 flanges 17. The wheel arch portion 16 has a substantially arc shape of 180 °. In a state before processing by the roll hemming device 10a, the flange 17 has a bent shape of 90 ° from the end 16a (see FIG. 4) of the wheel arch 16 toward the inside.

  The shapes of the wheel arch portion 16 and the end portion 16 a may be slightly different depending on the model of the vehicle 12.

  As shown in FIG. 1, the roll hemming device 10 a according to the first embodiment includes a moving mold 18 that is brought into contact with a wheel arch portion 16 of a vehicle 12 that is a workpiece, and a mold for moving the moving mold 18. A robot 19, a processing robot 22 having a hemming unit (tool body) 20 at the tip, a photoelectric sensor 23 for detecting that the vehicle 12 is transported and arranged at a predetermined position (station) in the production line 14, and And a controller 24 that performs various controls. The processing robot 22 and the mold robot 19 are arranged side by side in the vicinity of the production line 14.

  The processing robot 22 and the mold robot 19 are stationary industrial articulated types (6-axis type), and the hemming unit 20 can be moved to an arbitrary position and an arbitrary posture by a program operation. 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. The moving mold 18 is small and light and easy to carry, and the mold robot 19 may be a small and small output type.

  As shown in FIG. 2, the hemming unit 20 includes a hemming roller 30 and a guide roller 32 provided so as to protrude from the end surface.

  The hemming roller 30 is a roller that bends the flange 17 while rolling. The guide roller 32 abuts on the back surface of the movable mold 18 and rolls, and also acts as a receiving roller that sandwiches the flange 17 together with the hemming roller 30.

  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 is movable in the Y direction (the direction in which the support shafts 30 a and 32 a are arranged, the Y direction), and the distance between the support shaft 30 a and the support shaft 32 a is adjusted. Pressurization is possible with respect to the member pinched | interposed.

  Further, the hemming roller 30 and the guide roller 32 can be moved integrally by a floating mechanism in the X direction (the axial direction of the support shafts 30a and 32a).

  The hemming roller 30 is further movable relative to the floating mechanism in the X direction based on sub-teaching data 69a to 69d described later. That is, the hemming roller 30 can advance and retract independently from the guide roller 32, and the distance in the X direction between the guide roller 32 and the hemming roller 30 can be adjusted.

  As described above, the hemming unit 20 has a mechanism for driving the hemming roller 30 in the X direction and the Y direction, and has a biaxial configuration. The hemming unit 20 and the processing robot 22 act as moving means for moving the hemming roller 30 and the guide roller 32 integrally.

  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 tapered roller 38 is a tapered truncated cone inclined at 45 ° in a side view. The hemming process is performed in two steps, the taper roller 38 is used for the first pre-hemming, and the cylindrical roller 40 is used for the second main hemming.

  The guide roller 32 has a disk shape with a narrow periphery, and can engage with a groove (guide portion) 42 provided in the movable mold 18.

  As shown in FIG. 3, the moving mold 18 is configured based on a mold plate 44. The mold plate 44 has a plate shape, and the side that contacts the wheel arch portion 16 is referred to as a front surface 44a (see FIG. 4), and the opposite surface is referred to as a back surface 44b. Further, as viewed from the end portion 16a of the wheel arch portion 16, the workpiece side is referred to as an inner side, and the opposite side is referred to as an outer side.

  The moving mold 18 includes an outer arc portion 50 formed slightly outside the end portion 16a of the wheel arch portion 16, a groove 42 provided in parallel along the outer arc portion 50 on the back surface 44b, and a mold. And a handle portion 52 protruding from the back surface 44b of the plate 44. The handle portion 52 is set to have a polygonal cross section to prevent rotational deviation of the mold plate 44.

  As shown in FIG. 4, the movable mold 18 is provided with an elastic material 60 at least on the surface of the portion that supports the workpiece within a range where the flange 17 is bent. The elastic material 60 may be provided on the entire surface 44 a of the moving mold 18. The elastic material 60 is, for example, natural rubber, nitrile rubber, silicone rubber, or the like.

  The mold plate 44 is an arch-shaped plate shape in which the surface 44 a abuts around the wheel arch portion 16, and the surface 44 a is set to a three-dimensional curved surface that matches the standard surface shape of the vehicle 12. Yes. Therefore, when the moving mold 18 is attached to the wheel arch portion 16, the groove 42 is disposed substantially parallel to the flange 17, and the surface 44 a is in surface contact with the vehicle 12 over a wide area.

  In particular, since the elastic member 60 is provided on the surface 44a, even if the surface shape is slightly different depending on the model of the vehicle 12, the surface 44a can be contacted according to the shape.

  Since the moving mold 18 abuts only around the wheel arch portion 16, it is small. 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 simply moved by the mold robot 19 (see FIG. 1).

  As shown in FIG. 1, the mold robot 19 differs from the machining robot 22 only in the tip portion, and a mold gripping mechanism 62 for gripping the handle portion 52 of the movable mold 18 is provided instead of the hemming unit 20. It has been. The mold holding mechanism 62 accurately holds the specified position of the handle portion 52 and can move the movable mold 18 at an arbitrary position and in an arbitrary posture by a program operation.

  As shown in FIG. 5, the controller 24 includes a first robot control unit 64 that controls the machining robot 22 and the hemming unit 20, and a second robot control unit 66 that controls the mold robot 19. The first robot control unit 64 has main teaching data 68 for controlling the operation of the machining robot 22 with six axes, and sub-teaching data for controlling the two axes of the hemming unit 20 as the seventh and eighth axes. 69a, 69b, 69c, 69d.

  The main teaching data 68 is taught so that the guide roller 32 engages with the groove 42 of the movable mold 18 disposed at the specified position, and basically one data is sufficient. Of course, the main teaching data 68 may be rewritten depending on the design conditions.

  The sub-teaching data 69a to 69d are selectable or rewritable and are data provided for each model of the vehicle 12, and the first robot control unit 64 is selected according to the model of the vehicle 12 to be operated. One is selected and the hemming roller 30 in the hemming unit 20 is controlled.

  The second robot control unit 66 controls the mold robot 19 based on the teaching data 70.

  Next, roll hemming using the roll hemming apparatus 10a configured as described above will be described. In the roll hemming device 10a, roll hemming is performed on the wheel arch portion 16 of the vehicle 12. The wheel arch portion 16 that is processed by the roll hemming device 10a will be described separately as a first workpiece 100a and a second workpiece 100b according to the model.

  In order to facilitate understanding, the first workpiece 100a and the second workpiece 100b are shown in FIG. 4 and FIGS. 6 to 11 in a straight line with the end face of the moving mold 18 and the groove 42, and the first workpiece 100a and the second workpiece 100b. 100b is also shown in a shape substantially aligned with the moving mold 18. 4 and 6 to 11, the flange 17 is bent with respect to the first workpiece 100a and the second workpiece 100b. However, the end portion of the inner panel may be sandwiched between the bent portions.

  When machining either the first workpiece 100 a or the second workpiece 100 b, the mold robot 19 moves the movable mold 18 to a fixed position that substantially contacts the wheel arch portion 16 of the vehicle 12.

  As shown in FIG. 4, the first workpiece 100 a has a shape in which the shape of the surface is slightly curved in the left-right direction (Z direction), there are gaps 102 and 104, and the end surface is curved with respect to the groove 42. It is.

  As shown in FIGS. 4 and 6, in the first pre-heming, the hemming roller 30 rolls with the cylindrical roller 40 in contact with the surface of the movable mold 18 and the taper roller 38 in contact with the flange 17. Let Thereby, the flange 17 is bent by approximately 45 °.

  At this time, the hemming unit 20 performs a predetermined operation based on the operation of the machining robot 22 based on the main teaching data 68, and the guide roller 32 is guided by the groove 42 and rolls in the Z direction. Even if there is a slight error in the positioning of the hemming unit 20 by the processing robot 22, the guide roller 32 engages with the groove 42 and moves along an appropriate path.

  If the positioning accuracy of the hemming unit 20 by the processing robot 22 is sufficiently high, the guide mechanism of the guide roller 32 by the groove 42 may be omitted.

On the other hand, the flange 17 of the first workpiece 100a, since the curved in the X-direction as it moves in the Z direction, the hemming roller 30 also becomes Rukoto be displaced in the X-direction accordingly. This displacement process is performed based on the sub teaching data 69a (see FIG. 5) selected according to the first workpiece 100a. Referring to FIG. 4, it can be understood that the hemming roller 30 is displaced in the X direction at the start of processing (see the virtual line portion) and at the middle of processing (see the central solid line portion).

  In the operation based on the sub-teaching data 69a, the hemming roller 30 is arranged on the base end side at the start of machining (refer to the phantom line portion), and is maximum displaced toward the distal end side during the processing (see the solid line portion in the center). At the end of the machining, it returns to the base end side again and is displaced along a gentle sine wave shape as a whole. Of course, depending on the contents of the first workpiece 100a and the sub teaching data 69a, it is possible to cope with more complicated curved shapes.

  Further, the flange 17 of the first workpiece 100a is curved in the Y direction as it moves in the Z direction, but the elastic material 60 is provided on the surface 44a of the moving mold 18 that supports the flange 17. Thus, the curvature in the Y direction is absorbed by the expansion and contraction of the elastic member 60, and the flange 17 can be hemmed without taking any special control measures. That is, as indicated by the symbol A in FIG. 4, the elastic material 60 is appropriately compressed at the portion sandwiched between the hemming roller 30 and the guide roller 32, and the pressing force is reliably transmitted, so that the first workpiece 100 a and the elastic material 60 are transmitted. The flange 17 is appropriately bent without any gap between the two.

  Further, since the movable mold 18 and the flange 17 are sandwiched between the hemming roller 30 and the guide roller 32, the pressing force is canceled out and no load is applied to the machining robot 22.

  As shown in FIG. 7, when performing the second main hemming process, the hemming unit 20 and the guide roller 32 move along the same path as in the first pre-hemming process. Therefore, the processing robot 22 only needs to operate based on the main teaching data 68.

  The hemming roller 30 rolls at a position slightly displaced to the tip side as compared with the case of the first pre-hemming process (see FIG. 4), bends the flange 17 by the cylindrical roller 40, and bends 90 ° from the initial angle. It is done. Teaching data for displacement control of the hemming roller 30 at this time may be included in the sub-teaching data 69a, or data obtained by offsetting the data in the case of pre-hemming processing by a predetermined amount in the X direction may be used.

  Next, when hemming is performed on the second workpiece 100b, the controller 24 obtains the model information from a predetermined production management computer and selects the sub teaching data 69b corresponding to the second workpiece 100b.

  As shown in FIGS. 8 and 9, the second workpiece 100 b has a planar shape in which the surface shape is not curved in the left-right direction (Z direction) and the end surface is parallel to the groove 42. is there.

  In this case, since the flange 17 of the second workpiece 100b is constant in the X direction regardless of movement in the Z direction, the hemming roller 30 is also maintained at a constant position in the X direction accordingly. This process is performed based on sub teaching data 69b (see FIG. 5) selected according to the second workpiece 100b. Referring to FIG. 8, it will be understood that the hemming roller 30 is maintained constant in the X direction at the start of processing (see the virtual line portion) and during the processing (see the solid line portion in the center).

  Further, the flange 17 of the second workpiece 100b is constant in the Y direction regardless of the movement in the Z direction, but as in the case of the hemming process for the first workpiece 100a, no special control measures are taken. The elastic material 60 is appropriately compressed at the sandwiched portion B between the hemming roller 30 and the guide roller 32, and the pressing force is reliably transmitted, and there is no gap between the second workpiece 100b and the elastic material 60, and the flange 17 Is properly folded.

  Although not shown in the figure for the second main hemming process, the flange 17 is further bent by the cylindrical roller 40 with the hemming roller 30 appropriately displaced toward the distal end side during the first pre-hemming process. That's fine.

  As described above, in the roll hemming device 10a according to the first embodiment, the elastic material 60 is provided on the surface 44a of the moving mold 18, so that the hemming roller 30 is bent when the flange 17 is bent by the hemming roller 30. By pressing the workpiece, the receiving-side elastic member 60 can support the workpiece while elastically deforming in accordance with the surface shape of the workpiece. Thereby, roll hemming can be performed universally for a plurality of types of workpieces having different surface shapes and extending paths of the flange 17.

  Further, since the hemming roller 30 has an advancing / retreating means for advancing / retreating based on the sub-teaching data 69a-69d, only the sub-teaching data 69a-69d needs to be switched depending on the type of the work, and the extension path of the flange 17 is provided. The accuracy of the rolling path of the corresponding hemming roller 30 is kept high. In addition, the processing robot 22 as the moving means only needs to perform the same operation, and one main teaching data 68 is basically sufficient. Time and labor required for teaching work are reduced.

  Since the guide roller 32 rolls while the peripheral portion engages with the groove 42, the hemming roller 30 can be guided with high accuracy. In this case, since the hemming roller 30 can be advanced and retracted in the axial direction (X direction) by the advancing and retracting means in accordance with the groove 42, only one groove 42 is required. As a means for guiding the guide roller 32, a protrusion may be provided instead of the groove 42, and the guide roller 32 may be provided with a peripheral groove corresponding to the protrusion.

  Further, depending on the design conditions, as shown in FIG. 10, the moving mold 18 has two grooves 42 and 42a extending on the back surface 44b in the direction in which the hemming roller 30 should roll, Accordingly, the peripheral portion may be rolled while being engaged with any one of the grooves 42 and 42a.

  In this case, as shown in FIG. 10, when performing hemming on the first workpiece 100a, the main teaching data 68 is selected so that the guide roller 32 is engaged with the groove 42a, as shown in FIG. When the hemming process is performed on the second workpiece 100b, the main teaching data 68 is selected so that the guide roller 32 is engaged with the groove 42.

  The deviation due to the offset in the X direction so that the groove 42 and the groove 42a do not intersect with each other may be corrected by the advancing and retreating mechanism of the hemming roller 30 in the X direction. In this case, during the hemming process, the X-direction position of the hemming roller 30 by the advance / retreat mechanism may be held relatively constant with respect to the guide roller 32.

  Thus, by providing the plurality of grooves 42 and 42a on the back surface 44b of the moving mold 18 according to the model, the hemming roller 30 can be accurately guided for each model. The number of grooves may be 3 or more depending on the corresponding workpiece. Depending on the arrangement conditions of the groove 42 and the groove 42a, the X-direction advance / retreat mechanism of the hemming roller 30 may be omitted.

  As shown in FIG. 12, the roll hemming device 10 b according to the second embodiment includes a processing robot 22 and a fixed mold 72. The fixed mold 72 is stably placed on the floor surface, and the surface 72a is a mold surface. The surface 72a is provided with a plurality of pins 108 as positioning means for the workpiece 106 and an elastic material 60 provided at a position where the flange 17 of the positioned workpiece 106 is bent. The elastic material 60 may be provided on the entire surface 72a.

  The hemming unit 110 provided at the tip of the processing robot 22 is obtained by omitting the guide roller 32 from the hemming unit 20. In the roll hemming apparatus 10b, the moving means corresponding to the mold robot 19 is not necessary.

  In the hemming process by the roll hemming device 10b, after the workpiece 106 is placed on the fixed mold 72, the processing robot 22 is operated based on the teaching data, and the flange 17 is bent while rolling the hemming roller 30. . In this case, similarly to the roll hemming device 10a, the elastic member 60 can support the workpiece 106 while elastically deforming in accordance with the surface shape of the workpiece 106. Thereby, roll hemming can be performed universally for a plurality of types of workpieces having different surface shapes and extending paths of the flange 17.

  The roll hemming device according to the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention.

It is a model perspective view of the roll hemming device concerning a 1st embodiment. It is a perspective view of a hemming unit. It is a perspective view of the movement metal mold | die fixed to the wheel arch part. It is a model perspective view which shows a mode that a pre hemming process is performed with respect to a 1st workpiece | work. It is a block block diagram of the roll hemming device concerning a 1st embodiment. It is a schematic cross section side view which shows a mode that the pre hemming process is performed with respect to a 1st workpiece | work. It is a model perspective view which shows a mode that this hemming process is carried out with respect to a 1st workpiece | work. It is a model perspective view which shows a mode that a pre hemming process is performed with respect to a 2nd workpiece | work. It is a schematic cross section side view which shows a mode that the pre hemming process is performed with respect to a 2nd workpiece | work. It is a model perspective view which shows a mode that the pre-hemming process is carried out with respect to the 1st workpiece | work using the moving metal mold | die which concerns on a modification. It is a model perspective view which shows a mode that the pre-hemming process is carried out with respect to the 2nd workpiece | work using the moving metal mold | die which concerns on a modification. It is a model perspective view of the roll hemming device concerning a 2nd embodiment.

Explanation of symbols

10a, 10b ... roll hemin GuSo location 12 ... vehicle 16 ... wheel arch portion 16a ... end 17 ... flange 18 ... movable die 19 ... die robot 20, 110 ... hemming unit 22 ... processing robot 24 ... controller 30 ... Hemming roller 32 ... Guide rollers 42 and 42a ... Groove 44 ... Mold plates 44a and 72a ... Front surface 44b ... Back surface 60 ... Elastic material 72 ... Fixed mold

Claims (4)

For a workpiece having a flange, a mold for supporting the workpiece in contact with a surface opposite to the flange;
A hemming roller that bends the flange while rolling;
A roll hemming device comprising:
Said mold, the surface of the portion which supports the workpiece Ri elastic material der,
A receiving roller that rolls against the back surface of the mold and sandwiches the flange together with the hemming roller;
A tool body supporting the hemming roller and the receiving roller;
Moving means for moving the tool body;
Advancing and retracting means for displacing the hemming roller relative to the tool body independently of the receiving roller;
A controller for controlling the moving means and the advance / retreat means,
The controller has main teaching data for controlling the operation of the moving means and a plurality of sub teaching data provided for each type of the workpiece, and the sub is selected according to the type of the workpiece. A roll hemming device that controls the operation of the hemming roller based on teaching data . The roll hemming device according to claim 1 ,
The mold has a guide portion on the back surface,
The roll hemming device, wherein the receiving roller rolls while engaging with the guide portion. The roll hemming device according to claim 1,
The mold has a plurality of guide portions on the back surface,
The receiving roller, roll hemming device comprising a rolling to Turkey while engaging against one of the plurality of the guide portion in accordance with the type of the workpiece. In the roll hemming device according to any one of claims 1 to 3 ,
The roll hemming device, wherein the elastic material is rubber.

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