JP5210810B2 - Roll hemming device - Google Patents

Roll hemming device Download PDF

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Publication number
JP5210810B2
JP5210810B2 JP2008286935A JP2008286935A JP5210810B2 JP 5210810 B2 JP5210810 B2 JP 5210810B2 JP 2008286935 A JP2008286935 A JP 2008286935A JP 2008286935 A JP2008286935 A JP 2008286935A JP 5210810 B2 JP5210810 B2 JP 5210810B2
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hemming
mold
moving
flange
roller
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JP2008286935A
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JP2010110801A (en
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栄作 長谷川
英城 間山
徹 熊谷
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本田技研工業株式会社
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Description

  The present invention relates to a roll hemming having a mold for conveying a workpiece having a flange to a predetermined position by a conveying means, supporting a plate material in contact with a surface opposite to the flange, and a hemming roller for bending the flange while rolling. Relates to the device.
  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.
  In Patent Document 1, the stable protection structure is directly fixed to the workpiece by a predetermined fixing means. In Patent Document 2, a work is placed on a mold and fixed.
JP 2006-110628 A JP-A-6-344037
  By the way, when roll hemming is applied in the production process of an automobile, a large number of automobiles are sequentially transported on the production line. Therefore, hemming can be performed using a robot or the like at a predetermined station on the production line. is assumed.
  In a production line, a car is carried on a predetermined cart, but the cart can mount various types of vehicles and interferes with work at each station of the production line. In order to prevent this, it is preferable to use a highly versatile one without providing a wasteful additive. On the other hand, if the cart is highly versatile, it becomes difficult to increase the positioning accuracy of the car at each station for each individual model.
  Especially, when roll hemming is performed on the edge of a production vehicle by bringing the die into contact with the wheel house of the car that has been transported, as described above, the positioning accuracy of the car in the transport by the carriage Therefore, it is necessary to perform control for guiding the mold to an appropriate position while detecting the position of the wheel house by providing a predetermined sensing means in the moving means for contacting the mold.
  In addition, providing the sensing means to guide the mold to an appropriate position makes the control means and configuration complicated, large and expensive, and slows the operating speed to ensure sufficient positioning accuracy. Specifically, the time allocated for roll hemming is shortened. Furthermore, the sensing means requires an imaging means, an image processing means, and the like.
  Furthermore, even if the mold is in contact with the machining location with high accuracy, if it is at an arbitrary position that is not the specified position (for example, as in Patent Document 1), Sensing means is provided for the roller moving means of the hemming roller, and path control in accordance with the arbitrary position is required, which is complicated.
  Moreover, in the method of patent document 2, when a workpiece | work is large like a motor vehicle, it cannot be mounted on a metal mold | die.
  The present invention has been made in consideration of such a problem, and the mold can be properly brought into contact by a simple means with respect to a processing portion having a flange in the work conveyed by the conveying means, And it aims at providing the roll hemming apparatus which can move a hemming roller simply.
The roll hemming device according to the present invention includes a conveying unit that conveys a workpiece from a previous station to a loading position of the hemming processing station, and a flange of the workpiece that is installed in the hemming processing station and is conveyed by the conveying unit. A workpiece moving means that moves from a predetermined reference position to a predetermined reference position, and is installed at the hemming station to move the mold from a predetermined standby position to the reference position, and abut the mold on a surface opposite to the flange and the mold moving means for, possess a hemming roller for bending by sandwiching the flange together with said mold, to move between the die and the movement of the flange by the hemming station, the workpiece in the workpiece moving means Hemming is performed in a state where the is positioned .
  As described above, since the processing part and the mold of the workpiece are set at the reference position by the workpiece moving unit and the mold moving unit, the mold can be properly brought into contact with the processing part. At this time, positioning by the sensing means is unnecessary and simple. Since the mold and the processing place are set at the reference position, the hemming roller only needs to perform a preset operation in accordance with the reference position, so that path control using the sensing means is unnecessary.
  Here, the carry-in position is a position that has been transported by the transport means, and may have some variation, and need not be a fixed position.
The workpiece has a plurality of models, wherein the reference position is set in different positions depending on the model, the workpiece moving means may move the machining point in said reference position in accordance with the model. Thereby, it becomes applicable to the production line which produces a plurality of models.
  According to the roll hemming device according to the present invention, the machining part and the mold of the workpiece are set at the reference position by the workpiece moving means and the mold moving means, so that the mold is properly brought into contact with the machining part. be able to. At this time, positioning by the sensing means is unnecessary and simple. Since the mold and the processing place are set at the reference position, the hemming roller only needs to perform a preset operation in accordance with the reference position, so that path control using the sensing means is unnecessary.
  Embodiments of the roll hemming device according to the present invention will be described below with reference to FIGS.
  The roll hemming device 10 according to the present embodiment is set in a hemming processing station 15 in a production line (conveying means) 14 for assembling and processing a vehicle (workpiece) 12 in a so-called white body state. This is a device for performing roll hemming on the flange 17 of the wheel arch portion 16 on the side. In the production line 14, a large number of vehicles 12 are sequentially conveyed from a previous station (not shown) to a loading position of the hemming processing station 15.
  In the production line 14, the vehicle 12 is carried on a carriage (conveying means) 20, and the carriage 20 can mount various types of vehicles 12, and each station of the production line 14. This is a simple configuration with no wasteful additions so as not to hinder the work, and is highly versatile. The cart 20 may be an existing product corresponding to the production line 14.
  As shown in FIG. 2, since the overall length and the floor panel shape differ depending on the model as indicated by the phantom line, the carriage 20 is positioned with two pins 21 at a front position with respect to the floor panel of the vehicle 12. . Therefore, the position accuracy of the vehicle 12 can be slightly lowered, particularly in the rear part.
  Returning to FIG. 1, the wheel arch portion 16 has a substantially arc shape of 180 °. In a state before processing by the roll hemming device 10, the flange 17 has a bent shape of 90 ° inward from an end portion 16 a (see FIG. 5) of the wheel arch portion (processing portion) 16.
  The roll hemming device 10 according to the present embodiment includes an orthogonal robot (work moving means) 22 that moves and positions a wheel arch portion 16 in a vehicle 12 conveyed by a carriage 20 to a reference position P (see FIG. 9), a vehicle The movable mold 24 to be brought into contact with the 12 wheel arch portions 16 and the movable mold 24 are moved from the predetermined standby position W to the reference position P, and the movable mold 24 is brought into contact with the surface opposite to the flange 17. A mold moving mechanism 25, a processing robot 27 having a hemming unit 26 at the tip, a photoelectric sensor 28 for detecting that the vehicle 12 is transported and arranged at the hemming processing station 15 in the production line 14, and overall control And a controller 29 for performing The mold moving mechanism 25 and the orthogonal robot 22 are provided adjacent to each other.
  Although illustration of the right side portion as viewed from the production line 14 is omitted, the orthogonal robot 22, the mold moving mechanism 25, and the processing robot 27 are provided on the left and right sides of the production line 14.
  The processing robot 27 is a stationary industrial articulated type (6-axis type), and can move the hemming unit 26 at an arbitrary position and in an arbitrary posture by a program operation. The controller 29 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 29.
  As shown in FIG. 3, the hemming unit 26 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 24 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 direction of the arrow α in FIG. 3 (the direction in which the support shafts 30a and 32a are arranged), and the distance between the support shaft 30a and the support shaft 32a is adjusted. It is possible to apply pressure to the member sandwiched between the two.
  Furthermore, the hemming roller 30 and the guide roller 32 can be moved integrally by a floating mechanism in the direction of arrow β in FIG. 3 (the axial direction of the support shafts 30a and 32a).
  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 whose periphery is set to be narrow, and can be engaged with a groove 42 provided in the movable mold 24.
  As shown in FIGS. 4 and 5, the moving mold 24 is configured based on a mold plate 44. The mold plate 44 has a plate shape, and the side contacting the wheel arch portion 16 is referred to as the front surface 44a (see FIG. 5), and the opposite surface is referred to as the 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 24 has an outer arc portion 50 formed slightly outside the end portion 16a of the wheel arch portion 16, and a groove 42 provided in parallel along the outer arc portion 50 on the back surface 44b.
  The movable mold 24 is provided with an elastic material 54 on the surface of the portion that supports the plate material at least within a range where the flange 17 is bent. The elastic material 54 may be provided on the entire surface 44 a of the moving mold 24. The elastic material 54 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 24 is attached to the wheel arch portion 16, the groove 42 is disposed substantially parallel to the flange 17, and the surface 44a is in surface contact with the vehicle 12 over a wide area.
  In particular, since the elastic member 54 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.
  As shown in FIGS. 1, 6, and 7, the orthogonal robot 22 is a general-purpose orthogonal three-axis robot capable of programming operation, and can move the plate 60 in three axis directions. The orthogonal robot 22 is provided in the vicinity of the production line 14. The base moving mechanism 62 moves in the transport direction of the production line 14 (hereinafter also referred to as the X direction) and the base moving mechanism 62. A width moving mechanism 64 that moves in the width direction (hereinafter also referred to as the Y direction) of the production line 14 and a height moving mechanism that includes the plate 60 and moves in the height direction (hereinafter also referred to as the Z direction). 66.
  The plate 60 is long in the width direction, and is provided with a reference pin 76 provided in the vicinity of the end portion on the production line 14 side.
  The mold moving mechanism 25 is accurately provided at a specified position on the front surface of the wheel arch portion 16, and includes a bracket 72 that supports the moving mold 24 in an appropriate posture, and a cylinder that reciprocates the bracket 72 in the X direction ( (Actuator) 74 and a support column 75 for supporting the whole. The movable mold 24 and the bracket 72 are in the outer standby position W (see FIG. 6) under the action of the cylinder 74, and when the vehicle 12 is transported and hemmed to the inner reference position P. Move.
  The reference pin 76 has a tapered tip, and an annular protrusion 76a is provided at the lower part thereof. A reference hole 84 into which the reference pin 76 is inserted is provided in the floor panel.
  Next, the roll hemming process using the roll hemming apparatus 10 configured as described above will be described. In the roll hemming device 10, roll hemming is performed on the wheel arch portion 16 of the vehicle 12. 5 and 10, the flange 17 is bent, but the end of the inner panel (not shown) may be sandwiched by the flange 17.
  The controller 29 of the roll hemming apparatus 10 first confirms that the vehicle 12 has been carried into the corresponding station by the cart 20 by the photoelectric sensor 28 or other means. In the controller 29, the model of the vehicle 12 can be grasped from information from a predetermined production management computer.
  At this time, as shown in FIG. 9, the vehicle 12 is positioned with a pin 21 at the front portion with respect to the carriage 20, but since no positioning means is provided at the rear portion, the vehicle 12 is indicated by a virtual line. Further, the rear portion is displaced from the reference position P in the Y direction.
  Next, as shown in FIG. 8A, since the displacement of the vehicle 12 is not so large, at least the tip of the reference pin 76 is inserted into the reference hole 84.
  As shown in FIG. 8B, when the reference pin 76 is further raised, the reference hole 84 moves along the tip tapered portion of the reference pin 76.
  As shown in FIG. 8C, the reference hole 84 is inserted into the straight portion of the reference pin 76 with almost no gap, and the deviation of the wheel arch portion 16 in the X direction and the Y direction is corrected. Further, the floor panel is supported by the annular protrusion 76a and set to a specified height, and positioning is performed in the Z direction corresponding to the reference position P.
  As a result, the wheel arch portion 16 is accurately moved / positioned from the carry-in position P0 (see the thick phantom line portion in FIG. 9) conveyed by the production line 14 to the reference position P defined in advance for each model. (Refer to the thick line portion in FIG. 9). Note that the initial carry-in position P0 varies to some extent in the state of being conveyed by the production line 14, and is not a fixed position. The carry-in position P0 may not be displaced with respect to the reference position P in the X direction and the Y direction, and may not move in a plane, but moves in the Z direction.
  Next, as shown by an arrow B in FIG. 9, the moving mold 24 is moved to the reference position P where the wheel arch portion 16 is set by the mold moving mechanism 25. A simple linear motion by the cylinder 74 is sufficient for this operation. At this time, the moving mold 24 may be appropriately pressed against the wheel arch portion 16.
  In the processing so far, the orthogonal robot 22 and the mold moving mechanism 25 do not need to specifically sense the position and orientation of the wheel arch portion 16 and the reference hole 84, and the wheel arch portion 16 can be easily positioned.
  Thereafter, the processing robot 27 is operated based on data set in accordance with the model of the vehicle 12, and the first pre-hemming operation is performed as shown in FIG. In the first pre-hemming operation, the cylindrical roller 40 is brought into contact with the surface of the moving mold 24 and the hemming roller 30 is rolled while the taper roller 38 is brought into contact with the flange 17. Thereby, the flange 17 is bent by approximately 45 °.
  Even at this stage, since the wheel arch portion 16 and the moving mold 24 as the processing location are accurately positioned at the reference position P preset for each model, the processing robot 27 uses the moving mold 24. Further, it is not necessary to specifically sense the positions and orientations of the groove 42, the wheel arch portion 16 and the like, and the hemming unit 26 may be moved along a prescribed route based on teaching data preset for each model.
  As a result, the guide roller 32 rolls while being guided by the groove 42. Even if there is a slight error in the positioning of the hemming unit 26 by the processing robot 27, the guide roller 32 engages with the groove 42 and moves along an appropriate path.
  On the other hand, as shown in FIG. 5, when the flange 17 is curved with respect to the extending direction of the groove 42, the hemming roller 30 may be displaced in the axial direction accordingly. This displacement process may be performed on the basis of sub teaching data that defines the amount of advance or retreat of the hemming roller 30 for each model of the vehicle 12.
  According to the roll hemming device 10 according to the present embodiment, since both the wheel arch part 16 and the moving mold 24 as the workpiece are arranged at the reference position P, the dispersion during the transportation of the vehicle 12 is eliminated. Yes. If there is a subtle shape difference between the wheel arch portion 16 and the moving mold 24 or a subtle shape difference between the wheel arch portion 16 for each model, the elastic material 54 is absorbed by providing the moving die 24. May be.
  That is, in FIG. 5, the flange 17 is slightly curved in the height direction, but the elastic material 54 is provided on the surface 44 a of the moving mold 24 that supports the flange 17. Since the directional curve is absorbed by the expansion and contraction of the elastic member 54, the flange 17 can be hemmed without taking any special control measures. That is, as indicated by reference symbol A in FIG. 5, the elastic material 54 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 space between the plate material and the elastic material 54 is The flange 17 is appropriately bent without any gap.
  Further, since the movable mold 24 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 processing robot 27.
  As shown in FIG. 10, when performing the second main hemming process, the hemming unit 26 and the guide roller 32 move along the same path as in the first pre-hemming process.
  The hemming roller 30 rolls at a position slightly displaced to the tip side compared with the case of the first pre-hemming process (see FIG. 5), bends the flange 17 by the cylindrical roller 40, and bends 90 ° from the initial angle. It is done.
  In this way, after roll hemming is performed on the flange 17 of the wheel arch portion 16, the processing robot 27 is retracted, and the moving mold 24 is made to wait to the original standby position W by the mold moving mechanism 25. The pin 76 is removed from the reference hole 84, and the plate 60 is returned to the original position by the orthogonal robot 22 so as not to hinder the vehicle 12 from being carried out.
  As described above, according to the roll hemming device 10 according to the present embodiment, the wheel arch portion 16 and the moving mold 24 of the vehicle 12 are set at the reference position P by the orthogonal robot 22 and the mold moving mechanism 25. Therefore, the movable mold 24 can be properly brought into contact with the wheel arch portion 16. At this time, positioning by the sensing means is unnecessary and simple. Since the moving mold 24 and the wheel arch portion 16 are set at the reference position P, the processing robot 27 only needs to perform a preset operation according to the reference position P. Therefore, the path using the sensing means No control is required.
  The moving mold 24 has a certain weight, but the weight is basically supported by the orthogonal robot 22 having a three-axis configuration, and supports a heavy object because there is no arm portion like an articulated robot. It is easy and each axis motor may not be an excessively high output type.
  Further, the orthogonal robot 22, the mold moving mechanism 25, and the processing robot 27 do not require sensing means for detecting the position, orientation, and the like of the action target, and the control means and configuration are simple, small, and inexpensive. In order to ensure sufficient positioning accuracy, the operating speed does not slow down. As a result, a relatively long time can be secured for roll hemming.
  The reference position P is set at a different position depending on the model of the vehicle 12, and the orthogonal robot 22 moves the wheel arch portion 16 to the reference position P according to the model. Thereby, it can apply suitably for the production line 14 which produces a plurality of models.
  As the orthogonal robot 22, a general-purpose orthogonal robot can be applied, and the positioning procedure is easy. Since the orthogonal robot 22 holds the vicinity of the wheel arch portion 16 in the vehicle 12, the positioning accuracy is high.
  The mold moving mechanism 25 has a simple configuration in which the moving mold 24 is reciprocated between the standby position W and the reference position P by a single cylinder 74.
  In the above example, the mold moving mechanism 25 moves the moving mold 24 linearly. However, depending on the design conditions, the mold moving mechanism 25 may be rotated as shown in FIG. .
  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 this embodiment. It is a schematic plan view which shows a production line, a trolley | bogie, and a vehicle. 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. It is a top view of the circumference of a wheel arch part in vehicles, an orthogonal robot, and a metallic mold movement mechanism. It is a side view of the circumference of a wheel arch part in vehicles, an orthogonal robot, and a metallic mold movement mechanism. FIG. 8A is an enlarged schematic cross-sectional view of the reference pin tip and the reference hole at the initial stage when the reference pin is raised and inserted into the reference hole. FIG. 8B is a reference pin that is raised to the reference hole. FIG. 8C is an enlarged schematic cross-sectional view of the reference pin tip portion and the reference hole at an intermediate stage when inserted, and FIG. 8C is the final stage when the reference pin is raised and inserted into the reference hole. It is an expansion schematic cross section of a hole. It is a schematic plan view which shows the movement operation | movement of the vehicle and moving metal mold | die in the roll hemming apparatus which concerns on this Embodiment. It is a model perspective view which shows a mode that a book hemming process is carried out. It is a schematic plan view of the roll hemming device which concerns on a modification.
Explanation of symbols
10 ... roll hemming device 12 ... vehicle (work)
14 ... Production line 16 ... Wheel arch part (working point)
17 ... Flange 20 ... Carriage (conveying means)
22 ... Orthogonal robot (work moving means) 24 ... Moving mold (mold)
25 ... Mold moving mechanism 26 ... Hemming unit 27 ... Processing robot 30 ... Hemming roller 32 ... Guide roller 60 ... Plate 76 ... Reference pin 84 ... Reference hole

Claims (2)

  1. Conveying means for conveying the workpiece from the previous station to the loading position of the hemming processing station;
    A workpiece moving means installed at the hemming station and moving a flange of the workpiece conveyed by the conveying means from the loading position to a predetermined reference position;
    A mold moving means that is installed in the hemming station, moves a mold from a predetermined standby position to the reference position, and abuts the mold on a surface opposite to the flange;
    A hemming roller that sandwiches and bends the flange together with the mold; and
    I have a,
    A roll hemming apparatus characterized in that hemming is performed in a state where the flange and the mold are moved at the hemming station and the workpiece is positioned by the workpiece moving means .
  2. The roll hemming device according to claim 1,
    The workpiece has multiple models,
    The reference position is set to a different position depending on the model,
    The workpiece moving means, a roll hemming apparatus characterized by moving the machining point according to the model to the reference position.
JP2008286935A 2008-11-07 2008-11-07 Roll hemming device Expired - Fee Related JP5210810B2 (en)

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Publication number Priority date Publication date Assignee Title
CN102069126B (en) * 2010-11-24 2012-11-14 广汽本田汽车有限公司 Mould used for flanging side wall outer plate rear wheel of automobile by arching, device and method thereof
CN103722386B (en) * 2014-01-10 2017-02-15 若宇汽车装备工业(昆山)有限公司 Automobile welding production line

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JP3708585B2 (en) * 1995-06-16 2005-10-19 富士重工業株式会社 Body position correction device
JP4870479B2 (en) * 2005-06-21 2012-02-08 本田技研工業株式会社 Hemming processing method and hemming processing apparatus
JP4562648B2 (en) * 2005-12-05 2010-10-13 本田技研工業株式会社 Hemming machine

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