JP5377090B2 - Processing equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machining device which is miniaturized. <P>SOLUTION: The machining device 10 includes: a first base 31 which is attached to a moving means; first rails 33, 33 which are provided on the first base and extended in a first direction 32; a second base 36 which is supported slidably in the first direction 32 on these first rails 33, 33; second rails 38, 38 which are provided on the second base 36 and extended in a second direction 37 and a working unit 21 which is supported slidably in the second direction 37 on these second rails 38, 38 and has a working tool 22 and a guide roller 23. The first rails 33, 33 are provided along the side of one surface 41 of the second base and the second rails 38, 38 are provided along the side of the other surface 42 of the second base. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to an improvement of a processing apparatus that can be used for processing of bending a workpiece edge.

  A processing apparatus for performing a so-called hemming process in which a processing tool is applied to a work and the edge of the work is bent is known as a conventional technique (see, for example, Patent Document 1 (FIG. 6)).

  In FIG. 6 of Patent Document 1, a bracket 22 a (hereinafter referred to as “first base 22 a”) is attached to moving means 22 such as a robot (symbol is diverted from the same publication; hereinafter the same applies). A rail 76 provided in the bracket 22a and extending in the X direction, and a third movable portion 72 (hereinafter referred to as “second base 72”) slidably provided on the rail 76 are provided. A long plate 68 is erected in the Y direction perpendicular to 72, and a rail 88 is provided on the long plate 68, and a first movable portion 46 and a second movable portion 48 are slidably provided on the rail 88. A hemming unit 20 including a hemming roller 30 and a guide roller 32 is attached to each of the first movable portion 46 and the second movable portion 48, and between the first movable portion 46 and the second movable portion 48. In Linda 50 is provided. Then, the cylinder 50 is used to narrow the gap between the hemming roller 30 and the guide roller 32 so that the workpiece W placed on the mold 24 is hemmed.

  By the way, in the technique of Patent Document 1, the hemming roller 30 and the guide roller 32 constituting the hemming unit 20 are moved along a rail 88 provided perpendicular to the second base 72. The rail 88 and the long plate 68 that supports the rail 88 are required to have a predetermined strength because a force related to hemming is applied. In order to ensure a predetermined strength, the members such as the rail 88 and the long plate 68 need to be thickened. That is, the hemming unit 20 is slidably provided on a surface perpendicular to the second base 72, and the member is thickened to ensure rigidity, so that the apparatus may be increased in size. There is room for improvement in terms of downsizing the device.

JP 2008-23587 A

  An object of the present invention is to provide a machining apparatus that can reduce the size of the apparatus.

In the invention according to claim 1, the processing apparatus is provided in the first unit attached to the moving means, the second unit supported by the first unit so as to be slidable in the first direction, and the second unit. A processing unit having a processing tool and a guide tool supported so as to be slidable in the second direction on the back surface with respect to the surface supported by the first unit, and can be disposed between the processing tool and the guide tool, And a jig provided with a guide portion for guiding the guide tool on the other surface, and one of the processing tool and the guide tool is placed on the processing unit along the back surface. And a second drive source for driving the other of the processing tool or the guide tool in the second direction is provided in the processing unit along the back surface. Dogen, along with slidably mounted on the first driving source, the second driving source, wherein the slidably processing tool in the second direction.

  In the invention according to claim 2, the first unit includes first guide means extending in the first direction, and the second unit has first slide means guided by the first guide means on one surface. And a second guide means extending in the second direction on the back surface of the second unit, and the processing unit includes a second slide means guided by the second guide means. .

  The invention according to claim 3 is characterized in that the guide tool is a guide roller that rolls to the guide portion, and the second direction is the same as the direction of the rotation axis of the guide roller.

In the invention which concerns on Claim 4 , the processing tool is provided in the 2nd drive source so that attachment or detachment is possible, It is characterized by the above-mentioned.
In the invention according to claim 5, the processing tool is a hemming roller that performs hemming processing, and the hemming roller is inclined in a direction extending from the front end toward the processing unit toward the center of the rotating shaft. A first taper portion, a second taper portion inclined in a direction extending from the rear end portion of the first taper portion to the rotation axis, and a direction of the axis of the roller portion from the rear end portion of the second taper portion; The cylindrical portions formed in parallel are tapered rollers formed in this order.

  In the invention according to claim 1, the first unit is slidably engaged with one surface of the second unit, and the processing unit is provided on the back surface with respect to the surface provided to the second unit and supported by the first unit. Are slidably engaged. That is, the one surface and the back surface which is the other surface are formed in parallel to each other, and the first unit and the processing unit are provided on each of these surfaces.

  If the first unit and the machining unit are not provided on surfaces parallel to each other, for example, if the machining unit slide direction is perpendicular to the slide direction of the first unit Since the direction (surface) in which the first unit moves relative to the second unit is different from the direction (surface) in which the processing unit moves relative to the second unit, the processing apparatus May increase in size.

In this respect, in the present invention, the first unit is slidably engaged with one surface of the second unit, and the processing unit is slidably engaged with the other surface of the second unit. The size of the apparatus can be reduced. In addition, since the direction in which the machining unit moves and the direction in which the first unit moves do not intersect, the interference between the first unit and the machining unit is not considered without affecting the rigidity of the apparatus. It is possible to ensure a sufficient distance between the processing tool and the guide tool.
The processing unit is provided with a first drive source and a second drive source for driving one and the other of the processing tool and the guide tool in this order with respect to the second base. With such a configuration, there is no concern that the first drive source and the second drive source interfere with any member of the first base, the first rail, the second base, and the second rail.
In addition, since the first drive source and the second drive source are provided in the processing unit, it is possible to reduce the size while increasing the rigidity of the processing unit.

  In the invention according to claim 2, the first slide means guided by the first guide means is provided on one surface of the second unit, and the back surface, which is the other surface of the second unit, is extended in the second direction. The processing unit includes second slide means guided by the second guide means.

  The second unit can be slid in the first direction by the first guide means, and the processing unit can be slid in the second direction by the second guide means extending in the second direction. It becomes possible. Therefore, the processing unit can be slidably provided in the first direction and the second direction while reducing the size of the apparatus.

In the invention which concerns on Claim 3, a 2nd direction is the same direction as the direction of the rotating shaft of a guide roller.
If the first direction is set to the same direction as the direction of the rotation axis of the guide roller, it is necessary to cause both members of the second base and the processing unit that slides on the second base to follow the workpiece.

  In this regard, in the present invention, since the second direction is set to the same direction as the direction of the rotation axis of the guide roller, it is only necessary to cause a machining unit having a smaller mass than the first direction to follow the workpiece. That is, by making the second direction the same as the direction of the rotation axis of the guide roller, the mass associated with the movement is reduced, so that the guide roller can easily follow the guide portion of the jig.

In the invention which concerns on Claim 4, the 1st drive source and 2nd drive source which drive one and the other of a process tool and a guide tool are provided in this order with respect to the 2nd base in the process unit. With such a configuration, there is no concern that the first drive source and the second drive source interfere with any member of the first base, the first rail, the second base, and the second rail.
In addition, since the first drive source and the second drive source are provided in the processing unit, it is possible to reduce the size while increasing the rigidity of the processing unit.

In the invention which concerns on Claim 4 , since the processing tool is provided in the 2nd drive source so that attachment or detachment is possible, there exists an advantage that replacement | exchange of a processing tool becomes easy.

It is a perspective view of the processing apparatus attached to the articulated robot which concerns on this invention. It is a principal part enlarged view of FIG. It is a front view of the unit main body which comprises the processing apparatus which concerns on this invention. FIG. 3 is an exploded perspective view of FIG. 2. It is a figure explaining the drive mechanism of a tool base concerning the present invention. FIG. 6 is a sectional view taken along line 6-6 of FIG. It is explanatory drawing of a structure of the processing unit and jig | tool which concerns on this invention, and operation | movement explanatory drawing (A processing tool is applied to the jig | tool which set the workpiece | work, and primary hemming is performed.). It is operation | movement explanatory drawing of the processing apparatus which concerns on this invention (A processing tool is applied to a workpiece | work and a secondary hemming process and a tertiary hemming process are performed.). It is the Example figure of the processing apparatus which concerns on this invention, and a comparative example figure.

  Hereinafter, embodiments of the present invention will be described in detail. The drawings are viewed in the direction of the reference numerals.

Embodiments of the present invention will be described with reference to the drawings.
In FIG. 1, a processing apparatus 10 includes a jig 14 for placing a work 11 to be hemmed, and a unit main body 19 that is attached to an arm tip 17 of an articulated robot 16 as a moving means and performs hemming. It consists of.

The unit main body 19 is provided with a processing unit 21 that contacts the workpiece 11 and performs hemming processing. The processing unit 21 includes a processing tool (hemming roller 22) and a guide tool (guide roller 23) as tool portions. , Is provided. Then, the multi-joint robot 16 moves the unit main body 19 around the jig 14 on which the work 11 is placed, and hemming the edge of the work 11. The guide tool is a guide roller that rolls on a guide portion formed on a jig 14 described later.
Hereinafter, the configuration of the unit main body 19 attached to the robot arm tip 17 and its peripheral part will be described.

  2 and 3, the unit main body 19 is provided with a first base 31 attached to an arm tip 17 of a robot arm 25 as a moving means, and provided in the first base 31 and extending in a first direction 32. Two first rails 33, 33 as first guide means existing, first sliders 34, 34 engaged with these first rails 33, 33, and integration with these first sliders 34, 34 And a second base 36 provided on the first sliders 34, 34 as first slide means and supported so as to be slidable in the first direction 32 with respect to the first rails 33, 33, and the second base 36. Second rails 38 and 38 as second guide means provided on the base 36 and extending in a second direction 37 perpendicular to the first direction 32, and the second rails 38 and 38 engaged with the second rails 38 and 38. 2 Second sliders 39 and 39 as ride means, and integrated with these second sliders 39 and 39 and provided on the second sliders 39 and 39 in the second direction with respect to the second rails 38 and 38 And a processing unit 21 slidably supported by 37. Here, the first rails 33 and 33 are provided on the one surface 41 side of the second base, and the second rails 38 and 38 are the other surface opposite to the one surface 41 of the second base ( (Back) 42 is provided.

  Here, the first base 31 and the first rail 33 fixed to the first base 31 are used as the first unit 30, the first slider 34, the second base 36 fixed to the first slider 34, When the three elements including the second rail 38 fixed to the second base 36 are used as the second unit 35, the processing apparatus 10 can slide in the first direction 32 on the first unit 30 and the first unit 30. A second unit 35 supported by the second unit 35, and a surface 41 provided on the second unit 35 and supported by the first unit 30, and supported on the back surface 42 slidably in the second direction 37. And a processing unit 21 having a guide tool 23.

  The processing unit 21 is slidably provided on the second base 36 and has a unit base 45 to which a guide roller 23 as a guide tool is attached. The processing base 21 is slidably provided on the unit base 45 and has a processing tool 22 attached thereto. A tool base 46.

The workpiece is sandwiched and pressed by the processing tool 22 provided on the tool base 46 and the guide roller 23 provided on the unit base 45, and along the hemming position by the guide roller 23 provided on the unit base 45. The processing tool 22 is guided.
The second direction 37 is the same direction as the direction of the rotating shaft 48 of the guide roller. Details of the processing tool 22 and the guide roller will be described later. In the figure, reference numerals 51 and 51 denote bearings that rotatably support the guide roller 23, and reference numerals 52 and 52 denote bearings that rotatably support the hemming roller 22.

In FIG. 4, a drive unit that drives the plurality of bases described above that are slidably attached to the first base 31 in the first direction or the second direction will be described.
A second base drive source 56 for slidably driving the second base 36 in the first direction 32 is attached to the first base 31. The second base drive source 56 is an air cylinder, and the force of the second base drive source 56 is provided by a drive pin 59 inserted between a rod portion 57 of the air cylinder and a transmission portion 58 provided on the second base 36. Is transmitted to the second base 36, and the second base 36 can be slid in the first direction 32.

  Further, a processing unit drive source 61 that drives a unit base 45 as a constituent member of the processing unit 21 to be slidable in the second direction 37 is attached to the second base 36. The machining unit drive source 61 is an air cylinder, and the force of the second base drive source 61 is generated by the drive pin 64 inserted between the rod portion 62 of the air cylinder and the transmission portion 63 provided on the unit base 45. The unit base 45 is transmitted to the base 45 and is slidable in the second direction 37. It should be noted that the first direction described above may be the second direction, and the second direction may be the first direction.

  A guide tool support arm 66 extends to a unit base 45 as a constituent member of the processing unit 21, and a guide roller 23 is attached to the tip of the guide tool support arm 66. The unit base 45 is provided with a first drive source 71 that is driven so as to be relatively movable in the first direction 32.

The first drive source 71 includes a servo motor 72, a ball screw 73 driven by the servo motor 72, and a unit slider 74 that slides with the ball screw 73. A tool base 46 is attached to the unit slider 74.
The tool base 46 is provided with a second drive source 81 that drives the processing tool 22 in the second direction 37. The second drive source 81 includes a servo motor 82. A tool slider 82 is provided so as to be slidable in the second direction 37 by the second drive source 81, a tool socket 83 is attached to the tool slider 82, and a tool pin 84 is provided detachably on the tool socket 83, The processing tool 22 is attached to the tool pin 84 via the processing tool arm portion 85. Hereinafter, the structure around the unit slider 74 that is slidably driven by the first drive source 71 and to which the tool base 46 is fixed will be described.

  In this embodiment, the second base 36 is provided as a constituent member of the second unit 35. For example, the second base 36 is omitted and the second rail 38 is directly fixed to the back surface of the first slider 34. This can be used as the second unit.

  5 and 6, a rail 75 is attached to the unit base 45, and a slide block 76 is slidably provided on the rail 75. A unit slider 74 is attached to the slide block 76, and is integrated with the unit slider 74. A through hole 77 is provided in the central portion of the slide block 76, and a nut portion 78 is mounted in the through hole 77. The nut portion 78 is rotated by a first drive source (reference numeral 71 in FIG. 4) in the central portion. It arrange | positions so that the ball screw 73 may penetrate.

  Convex portions 79 and 79 are formed on the left and right inner wall portions 78 and 78 constituting the rail 75 as detents for preventing the slide block 76 from rotating continuously by the ball screw 73. The slide block 76 can be slid in the axial direction of the ball screw 73 by the rotation of the ball screw 73.

The configuration of the second drive source is the same as that of the first drive source, and a description thereof is omitted.
In the present embodiment, the first drive source and the second drive source both use servo motors, but the drive means such as an air cylinder may be set to any means.

  Returning to FIG. 4, the machining unit 21 is provided with a first drive source 71 that drives the machining tool 22 in the first direction 32, and the machining unit 21 is driven in the second direction by driving the machining tool 22 in the second direction. A driving source 81 is provided. The second driving source 81 is slidably mounted on the first driving source 71 and is slidable on the second driving source 81 in the second direction 37. Is provided.

  The machining unit 21 is provided with a first drive source 71 and a second drive source 81 for driving the machining tool 22 in this order with respect to the second base 36. With this configuration, there is no concern that the first drive source 71 and the second drive source 81 interfere with the first base 31, the first rails 33 and 33, the second base 36 and the second rails 38 and 38.

In addition, since the first drive source 71 and the second drive source 81 are provided in the processing unit 21, it is possible to reduce the size while increasing the rigidity of the processing unit 21.
Furthermore, since the processing tool 22 is detachably provided in a tool socket 83 provided on the tool base 46 including the second drive source 81, there is an advantage that the processing tool 22 can be easily replaced. In addition, by changing the type of the processing tool, the taper angle and the like can be changed, and the processing tool can cope with various plate thicknesses and bending amounts.

  The guide tool is driven in the first direction 32 by the first drive source 71 provided in the machining unit, and the guide tool is moved by the second drive source 81 provided in the machining unit. The unit main body may be configured to drive in the two directions 37.

  In FIG. 7A, the processing tool is a so-called hemming roller 22 that performs hemming processing. The hemming roller 22 is attached to the processing unit 21 side, and the base 91 is rotatable. The roller portion 92 is attached to the roller portion 92. The roller portion 92 includes a first taper portion 93 that is inclined from the front end portion 92a of the roller portion toward the processing unit toward the center of the rotation shaft 49, and a rear end portion of the first taper portion. A second taper portion 95 inclined in a direction extending from 94 to the rotation shaft 49, and a cylindrical portion 97 formed in parallel with the axial direction of the roller portion 92 from the rear end portion 96 of the second taper portion; Are tapered rollers formed in this order.

  A guide roller 23 that guides a hemming roller 22 as a processing tool while sandwiching the jig 14 is engaged with a base 101 and a guide 102 that is rotatably attached to the base 101 and is recessed upward on the lower surface 104 of the jig. And a roller 103 formed so as to match.

Hereinafter, the configuration of the jig 14 disposed between the processing tool 22 and the guide roller 23 will be described.
In the jig 14, a mounting portion 113 on which the workpiece 11 composed of the first workpiece 111 and the second workpiece 112 is placed is formed on the upper surface 105 as one surface, and the lower surface 104 as the other surface. Further, a groove portion 114 is formed as a guide portion that engages with the guide roller 103 as a guide tool and guides the guide roller 103.

  The direction of the rotation axis 48 of the guide roller is the same as the second direction (reference numeral 37 in FIG. 4), and the second direction 37 is slidably provided on the second rails 38 and 38. This is the direction in which the machining unit 21 including the machining tool 22 and the guide tool are supported.

Hereinafter, the operation of the processing apparatus according to the present invention will be described.
In FIG. 7A, two workpieces 11 including a first workpiece 111 and a second workpiece 112 folded by the first workpiece 111 are placed on the placement portion 113 of the jig 14, and the jig is repaired. The processing unit 21 is brought close to the tool 14.

  In FIG. 7B, the processing unit 21 is moved with the guide roller 103 engaged with the guide portion 102 of the jig 14 and the first taper portion 93 of the processing tool 22 applied to the edge 115 of the first workpiece. The primary hemming process is performed by moving from the front to the back of the figure or from the back to the front of the figure.

  In FIG. 8A, after the primary hemming process is completed, the second taper part 95 of the processing tool 22 is moved to the first state while the guide roller 103 remains engaged with the guide part 102 of the jig 14. The processing unit 21 is moved against the workpiece edge 115 from the diagram in the back direction or from the diagram back to the front direction to perform secondary hemming.

In FIG. 8B, after the secondary hemming process is completed, the cylindrical portion 97 of the processing tool 22 is moved to the first workpiece while the guide roller 103 is engaged with the guide portion 102 of the jig 14. The hemming process is completed by applying the third hemming process by moving the processing unit 21 from the table to the back direction or from the back to the front direction by applying the third hemming process to the edge 115.
With the processing tool 22 having such a configuration, it is possible to perform smooth hemming without changing the processing tool 22 from primary hemming to tertiary hemming.

In addition, a cylindrical portion 97, a second tapered portion 95, and a first tapered portion 93 are continuously provided on the roller portion 92. Conventionally, since only one taper portion is usually formed in the roller portion, there is a case where the tool needs to be replaced when hemming is performed.
In this respect, in the present invention, since the cylindrical portion 97, the second tapered portion 95, and the first tapered portion 93 are provided in one roller portion 92, it is not necessary to replace the roller portion. In addition, when the taper angle of the roller portion related to hemming changes, it is only necessary to move the roller portion 92 slightly, so that the processing time can be shortened.

  Referring also to FIG. 2, the second direction 37 for supporting the processing unit 21 slidably on the second rails 38, 38 on the second rails 38, 38 is the direction of the rotating shaft 48 of the guide roller. Is set in the same direction as The processing unit 21 includes a processing tool 22 and a guide roller 23.

  If the first direction 32 is set to the same direction as the direction of the rotating shaft 48 of the guide roller, both the second base 36 and the processing unit 21 that slides on the second base 36 must follow the workpiece. There is. On the other hand, if the second direction 37 is set in the same direction as the direction of the rotating shaft 48 of the guide roller, the machining unit 21 having a smaller mass than the first direction 32 only needs to follow the workpiece 11.

  According to the processing apparatus of the present invention, since the second direction 37 is the same as the direction of the rotation axis 48 of the guide roller, the first direction 32 is the direction of the rotation axis 48 of the guide roller. Compared to the above, since the mass related to the movement can be reduced, the guide roller 103 can easily follow the guide portion 102 of the jig. By causing the guide roller 103 to easily follow the guide portion 102 of the jig, it is possible to prevent the guide roller 103 from coming off from the guide portion 102 of the jig.

  In FIG. 9 (a), an embodiment is shown, wherein first rails 33, 33 are provided along the one surface 41 side of the second base, and on the other surface 42 side of the second base. A second rail 38, 38 is provided along the second rail 38, 38, and the processing unit 21 is slidable along the second rail 38, 38 side. That is, the one surface 41 and the other surface 42 are formed in parallel, and the first rails 33 and 33 and the second rails 38 and 38 are provided on the respective surfaces 41 and 42, respectively. A processing unit 21 slidable along the rails 38 and 38 is provided. It can also be said that the first base 31 is slidably engaged with one surface 41 of the second base, and the processing unit 21 is slidably engaged with the other surface 42 of the second base.

  FIG. 9B shows a comparative example, in which the second rail 38B is provided perpendicular to the second base 36B. That is, the first rails 33B and 33B are provided along one surface 41B of the second base, but the second rails 38B and 38B are not provided along the other surface 42B of the second base. . Then, the direction in which the second base 36B moves as compared with the case where the first rails 33B and 33B and the second rails 38B and 38B are provided along the one surface 41B and the other surface 42B of the second base. Since the (surface) and the direction (surface) in which the processing unit 21B moves are different directions, the size of the processing apparatus 10B may increase. That is, there is a possibility that the processing apparatus will be enlarged.

  In FIG. 9A, in this respect, in the present invention, the second base 36 is provided along the surface 42 opposite to the surface 41 supported by the first rails 33, 33. The first base 31 is slidably engaged with one surface 41 of the second base, and the processing unit 21 is slidably engaged with the other surface 42 of the second base. Miniaturization can be achieved. In addition, since the direction in which the machining unit 21 moves and the direction in which the second base 36 moves do not intersect, the second base 36 and the machining unit 21 are not affected without affecting the rigidity of the machining apparatus 10. It is possible to ensure a sufficient distance between the processing tool 22 and the guide roller 23 without considering interference.

  Although the present invention is applied to the panel parts used in the production line of the four-wheeled vehicle in the embodiment, it can be applied to hemming processing of general vehicles and other mechanical parts.

  The present invention is suitable for hemming processing of panel parts.

  DESCRIPTION OF SYMBOLS 10 ... Processing apparatus, 14 ... Jig, 16 ... Moving means (articulated robot), 21 ... Processing unit, 22 ... Processing tool (hemming roller), 23 ... Guide tool (guide roller), 30 ... 1st unit, 31 ... 1st base, 32 ... 1st direction, 33 ... 1st guide means (1st rail), 34 ... 1st slide means (1st slider), 35 ... 2nd unit, 36 ... 2nd base, 37 ... Second direction, 38 ... second guide means (second rail), 39 ... second slide means (second slider), 41 ... surface supported by the first unit (one surface of the second base), 42 ... back surface of the surface supported by the first unit (the other surface of the second base), 48 ... rotating shaft of the guide roller, 71 ... first driving source, 82 ... second driving source, 102 ... guide section.

Claims (5)

A first unit attached to the moving means, a second unit supported by the first unit so as to be slidable in the first direction, and a surface provided on the second unit and supported by the first unit on the back, a processing unit having a second direction is slidably supported machining tool and the guide tool, is capable disposed between the guide tool and the machining tool, the workpiece is placed on one surface, the other and a jig guide portion to the surface guides the guide tool is provided,
A first drive source that drives one of the processing tool or the guide tool in the first direction is provided in the processing unit along the back surface;
A second drive source for driving the other of the processing tool or the guide tool in the second direction in the processing unit along the back surface;
The second drive source is slidably mounted on the first drive source, and the processing tool is provided on the second drive source so as to be slidable in the second direction.
The processing apparatus characterized by having. The first unit includes first guide means extending in the first direction,
The second unit includes first slide means guided by the first guide means on one surface, and second guide means extending in the second direction on the back surface of the second unit. With
The processing apparatus according to claim 1, wherein the processing unit includes second slide means guided by the second guide means. The said guide tool is a guide roller rolling to the said guide part, The said 2nd direction is the same direction as the direction of the rotating shaft of the said guide roller, The Claim 1 or Claim 2 characterized by the above-mentioned. Processing equipment . The said processing tool is provided in the said 2nd drive source so that attachment or detachment is possible, The processing apparatus of any one of Claims 1-3 characterized by the above-mentioned. The processing tool is a hemming roller that performs hemming processing, and the hemming roller includes a first taper portion that is inclined in a direction extending from the front end toward the processing unit toward the center of the rotation shaft, A second taper portion inclined in a direction extending from the rear end portion of the first taper portion with respect to the rotation axis, and a cylinder formed in parallel to the axial direction of the roller portion from the rear end portion of the second taper portion The processing apparatus according to claim 1, wherein the portion is a tapered roller formed in this order.

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