JP6024593B2 - Hemming system - Google Patents

Description

  The present invention relates to a hemming processing system that bends a peripheral edge portion of a sheet metal part (work) such as a door panel or a hood panel for an automobile. In particular, the present invention relates to a hemming processing system in which a workpiece is placed on a lower mold for hemming and a peripheral edge of the workpiece is bent by a bending blade attached to the tip of a robot arm.

In recent years, in hemming processing of automobile door panels and hood panels, etc., in order to support mixed flow production of multiple types of vehicles, the workpiece is placed on the lower die for hemming, and the workpiece is mounted by a bending blade attached to the tip of the robot arm. Many hemming methods for bending the peripheral edge are employed. However, since the shape and size of the workpiece are different for each vehicle type, a dedicated lower hemming die is required.
Therefore, in the conventional hemming process, for example, as shown in FIG. 15, dedicated hemming lower molds 101A, 101B, 101C corresponding to a plurality of vehicle types are arranged in a horizontal row, and before and after the arrangement direction of each lower hemming mold A plurality of hemming robots 102 are installed, and a pair of workpiece transfer robots (work feeding robot 103 and workpiece picking robot 104) that move along the lower hemming die in the arrangement direction of each lower hemming die. The method to arrange was taken.
However, such a method in which the lower hemming molds are arranged in a horizontal row and the hemming robot 102 and the workpiece transfer robot (work feeding robot 103, workpiece picking robot 104) are arranged around them requires a large facility space. In addition, there is a problem that the number of robots increases and the equipment cost becomes excessive.
Thus, a hemming processing system that can efficiently replace the lower mold for hemming while reducing the equipment space and equipment cost has been studied (for example, see Patent Document 1).

In Patent Document 1, as shown in FIGS. 16 and 17, the workpiece 203 is positioned and held on the lower hemming mold 202 positioned and held on the work stage 201 at a fixed position, and the workpiece peripheral portion 203 </ b> S is attached to the robot arm 204. The hemming system 210 includes a general-purpose jig 205 for positioning and holding a dedicated lower hemming mold 202 on the upper surface of a plurality of types of workpieces, and when the general-purpose jig is placed on the work stage 201. A guide projection 206 that slides and guides the outer periphery of the general-purpose jig 205, and the outer periphery of the general-purpose jig 205 guided by the guide protrusion 206, and is driven to rotate to move the general-purpose jig 205 to the final position on the work stage. A technique in which a guide roller 207 that is positioned and held on the work stage 201 is disclosed.
In this system 210, the lower mold changing work performed by changing the type of the work 203 to be hemmed can be performed in a state where the lower hemming mold 202 and the general-purpose jig 205 are integrated. In the lower mold changing, the lower mold changing work can be easily performed by lifting and moving the general-purpose jig 205 having a constant shape and dimension with lifting and lowering claws (not shown) of the forklift. Further, the hemming lower mold 202 can be stored in a state of being integrated with the general-purpose jig 205, and in this way, the hemming lower mold 202 can be stored in a form protected by the general-purpose jig 205. For example, as shown in FIG. 18, the lower mold table 209 having a plurality of upper and lower stages is installed on the floor near the safety fence 208 (see FIG. 16), and the general jig 205 and hemming are carried out from the lower mold table 209 by a forklift. A set of lower molds 202 is carried into the work stage 201.

JP 2003-225721 A

However, according to the system 210 of Patent Document 1, when the lower die is changed after hemming, a set of the general-purpose jig 205 and the lower die 202 for hemming placed on the work stage 201 at a fixed position is used for a forklift or the like. It is necessary to carry in the work stage 201 a set of the general-purpose jig 205 and the lower die 202 for hemming that are next hemmed by a forklift or the like.
For this reason, the lower mold table 209 is installed near the safety fence 208 to store a set of general-purpose jigs 205 and hemming lower molds 202, and a forklift or the like is used every time the lower mold is changed. Having a set of jig 205 and hemming lower mold 202, it is necessary to reciprocate between lower mold table 209 and work stage 201, and the line stop time due to reciprocating transportation such as a forklift increases remarkably. there were.
In addition, a passage space where a forklift or the like travels and turns around the work stage 201 has to be provided, resulting in a problem that the efficiency of equipment space is reduced.

  The present invention has been made to solve the above-described problems, and provides a hemming processing system capable of reducing the line stop time required for lower die changeover and improving the equipment space efficiency by a simple method. With the goal.

In order to solve the above problems, a hemming processing system according to the present invention has the following configuration.
(1) A hemming processing system in which a workpiece is placed on a lower mold for hemming on a processing stage and hemming is performed by bending a peripheral edge of the workpiece with a bending blade attached to the tip of a robot arm.
The lower die for hemming can be multistaged in the vertical direction via a die cradle on the processing stage.

In the present invention, the hemming lower mold can be multi-staged in the vertical direction on the machining stage via the mold cradle. Therefore, in the lower mold changing after hemming, the lower hemming mold that has been hemmed before A hemming lower mold to be hemmed next through a mold cradle is placed on the top, or a hemming that is placed via a mold cradle on a lower hemming mold to be hemmed next If the lower mold is removed together with the mold cradle, the next hemming process can be resumed. Therefore, it is sufficient to change the lower mold after hemming by placing the next lower mold for hemming through the mold cradle or removing the previous lower hemming mold together with the mold cradle. There is no need to perform both removal and placement of the lower mold and mold cradle. Therefore, the line stop time required for lower die changeover can be greatly shortened.
Further, since the lower mold for hemming can be multi-staged in the vertical direction via the mold cradle on the processing stage, the equipment space of the processing stage can be reduced.

Therefore, according to the present invention, it is possible to greatly reduce the line stop time by changing the lower die by a simple method in which the lower die for hemming can be multi-staged in the vertical direction through the die cradle on the processing stage. At the same time, the facility space efficiency can be greatly improved.
In the processing stage, the lower hemming die has a different vertical height depending on the type of workpiece, but can be easily handled by teaching the tip position of the robot arm in advance. The hemming lower mold and the mold cradle may be formed separately or integrally.

(2) In the hemming processing system described in (1),
A mold storage stage for storing the lower mold for hemming in a multi-stage shape,
The lower mold for hemming is characterized in that it can move laterally between the mold storage stage and the processing stage.

In the present invention, there is provided a mold storage stage for storing the lower mold for hemming in a multi-stage shape, and the lower mold for hemming is movable between the mold storage stage and the processing stage. In changing the setup, the lower mold for hemming on the processing stage can be placed or removed by a simple method (for example, a simple driving device or manually). Therefore, it is not necessary to lift and transport the lower hemming die with a lifting claw such as a forklift between the die storage stage and the processing stage. Therefore, the line stop time due to transportation of a forklift or the like is eliminated, and the line stop time required for lower die changing can be further reduced.
In addition, the storage space can be made compact by storing the lower mold for hemming in a multi-stage shape, and it only moves laterally from the mold storage stage for storing the lower hemming mold in a multi-stage shape to the processing stage. The travel time of the lower mold can be greatly shortened, and the travel space can be greatly reduced.

Therefore, according to the present invention, there is provided a mold storage stage for storing the lower mold for hemming in a multistage shape, and the lower mold for hemming can be moved in a simple manner that can be moved laterally between the mold storage stage and the processing stage. The line stop time due to mold change can be further shortened, and the facility space efficiency can be further improved.
The mold storage stage is preferably arranged adjacent to the processing stage. This is because the lateral movement time of the lower mold for hemming can be further shortened, and the equipment space can be further reduced.
Moreover, it is preferable to form the convex part extended in the moving direction of the lower mold | die for hemming in the both ends of a type | mold base. When the mold cradle on which the lower mold for hemming is placed is moved laterally between the mold storage stage and the processing stage, the convex portion guides the movement direction, and the movement force can be further reduced. Therefore, even a large lower mold for hemming can be easily moved from the mold storage stage to the processing stage by a simpler driving device or manually.

(3) In the hemming processing system described in (1) or (2),
The hemming lower molds are respectively placed on the mold cradle,
The processing stage is characterized in that an upper mold cradle on which the lower hemming mold is placed is supported by a lower mold cradle.

  In the present invention, the hemming lower molds are respectively placed on the mold cradle, and in the processing stage, the upper mold cradle on which the hemming lower mold is placed is supported by the lower mold cradle. The hemming pressure acting on the peripheral edge of the mold can be received through the lower mold cradle that supports the upper mold cradle. Then, by receiving the hemming pressure by the upper and lower mold bases, it is possible to prevent the lower hemming mold from being bent even if the thickness of the lower hemming mold is reduced. Therefore, it is possible to further improve the equipment space efficiency by increasing the number of hemming lower molds that can be multi-staged while keeping the cost of the lower hemming molds to be dedicated equipment low.

  Therefore, according to the present invention, the lower hemming die is placed on the die receiving base, and the upper die receiving base on which the lower hemming die is placed is supported by the lower die receiving stand on the processing stage. With this simple method, equipment space efficiency can be further improved while reducing equipment costs.

(4) In the hemming processing system described in any one of (1) to (3),
The machining stage includes a hemming robot disposed in a direction orthogonal to a moving direction of the lower hemming mold, and a workpiece conveying robot disposed in the same direction as the moving direction of the lower hemming mold. And

In the present invention, since the hemming robot is arranged on the processing stage in a direction orthogonal to the moving direction of the lower hemming die, and the workpiece conveying robot is arranged in the same direction as the moving direction of the lower hemming die. When the lower mold is changed, the traveling axis of the workpiece transfer robot can be eliminated while avoiding the interference between the lower hemming mold and the hemming robot. Therefore, the equipment space of the processing stage can be further reduced, and the equipment cost can be further reduced.
Therefore, according to the present invention, a simple method of associating the arrangement of the hemming robot and the workpiece conveying robot with the moving direction of the lower mold for hemming, while reducing the line stop time due to the lower mold changing, the equipment space Efficiency can be further improved and equipment costs can be reduced.

  In addition, it is preferable to arrange | position the positioning device which has the reference | standard pin which positions a some workpiece | work in a process stage. The positioning device preferably includes a portal arm and is disposed in a direction orthogonal to the moving direction of the lower hemming die. The positioning device can quickly position the workpiece without interfering with the hemming lower mold that moves laterally or the workpiece that is loaded into and unloaded from the hemming lower mold. Therefore, the positioning device can be changed in parallel with the lower die change, and the line stop time due to the change can be shortened.

  According to the present invention, it is possible to provide a hemming processing system capable of reducing the line stop time required for lower die changeover and improving the equipment space efficiency by a simple method.

It is a top view of the hemming processing system concerning this embodiment. It is a perspective view of the robot for hemming in the hemming processing system shown in FIG. FIG. 3 is a cross-sectional view of hemming processing by the hemming robot shown in FIG. 2. It is a side view of the hemming processing system (processing A car) shown in FIG. It is AA sectional drawing in the processing stage of FIG. FIG. 5 is a cross-sectional view taken along the line BB in the mold storage stage of FIG. 4. It is a side view of the processing stage (processing a B car) shown in FIG. It is CC sectional drawing in the processing stage of FIG. It is DD sectional drawing in the type | mold storage stage of FIG. FIG. 2 is a side view of the hemming processing system (processing a C wheel) shown in FIG. 1. It is EE sectional drawing in the processing stage of FIG. It is FF sectional drawing in the type | mold storage stage of FIG. It is sectional drawing of the type | mold storage stage in the case where the kind of workpiece | work is four types. It is a perspective view of the positioning device used for this hemming processing system. It is a top view of the conventional hemming processing system. It is a side view of the conventional hemming processing system (patent document 1). FIG. 17 is a general-purpose jig positioning detail view of the hemming processing system shown in FIG. 16. It is a front view of the lower mold | type mounting stand of the hemming processing system shown in FIG.

  Next, a hemming processing system according to an embodiment of the present invention will be described in detail with reference to the drawings. First, the overall configuration of the hemming processing system according to the present embodiment will be described, and then the hemming processing method according to the present system, the multistage method of the lower mold for hemming in the processing stage and the mold storage stage, the configuration of the workpiece positioning device, and the positioning method Will be described in detail.

<Overall configuration of hemming system>
First, the whole structure of the hemming processing system which concerns on this embodiment is demonstrated using FIG. In FIG. 1, the top view of the hemming processing system which concerns on this embodiment is shown.
As shown in FIG. 1, a hemming processing system 10 includes a plurality of lower hemming molds 1 (1a to 1c) and a mold support 2 (2a to 2c) on which the lower hemming molds 1 (1a to 1c) are placed. ), And a robot 3 for work and a robot 4 for workpiece transfer. Further, the hemming processing system 10 includes a mold storage stage HS and a processing stage KS which are disposed adjacent to each other. In the mold storage stage HS and the processing stage KS, the hemming lower mold 1 (1a to 1c) can be stored in multiple stages. The plurality of lower hemming dies 1 (1a to 1c) can move horizontally in the direction of the arrow S between the die storage stage HS and the processing stage KS.
In addition, the direction of the arrow X shows the front-back direction, and the arrow Y shows the left-right direction. The direction of the arrow S (S1, S2) is the same as the direction of the arrow X.
Therefore, the mold storage stage HS is located behind the processing stage KS. Further, the hemming robot 3 is positioned in the left-right direction of the processing stage KS, and the workpiece transfer robot 4 is positioned in front of the processing stage KS.

In the present embodiment, the plurality of lower hemming molds 1 (1a to 1c) are dedicated lower hemming molds 1 (1a: A) corresponding to three types of door panels (for A cars, B cars, and C cars). For cars, 1b: for B cars, and 1c: for C cars).
The lower mold 1 for hemming (1a: for A cars, 1b: for B cars, 1c: for C cars) is the respective mold cradle 2 (2a: for A cars, 2b: for B cars, 2c: for C cars. ) And fastened with bolts or the like.

A storage stage HS shown in FIG. 1 stores a lower hemming mold 1b for a B car and a lower hemming mold 1c for a C car. A hemming lower mold 1c for a C car is stored at the uppermost stage of the storage stage HS. The hemming lower mold 1c for the C car is fastened near the processing stage KS on the mold receiving base 2c for the C car that is rectangular in plan view. A lower hemming die 1b for vehicle B (not shown) is stored in a state of being fastened to the vehicle mold receiving base 2b for vehicle B, below the mold carrier 2c for vehicle C. The position in plan view of the hemming lower mold 1b for the B car is substantially the same as the position in plan view of the hemming lower mold 1c for the C car.
On the other hand, a lower hemming die 1a for vehicle A is fixed to the processing stage KS shown in FIG. On the floor surface of the processing stage KS, a type cradle 2a for Car A is fixed, and a lower die 1a for hemming for Car A is fastened thereon.

  On the processing stage KS, two hemming robots 3 are arranged on the left and right sides in the front-rear direction, adjacent to the left and right ends of the mold receiving base 2a for the A car. In addition, two workpiece transfer robots 4 are arranged in the left-right direction on the front end side of the mold receiving base 2a for the A car. The right workpiece transfer robot 4 puts the workpiece (car A) into the lower hemming die 1a, and then each hemming robot 3 hemmes the peripheral edge of the workpiece, and then the left workpiece transfer robot. The robot 4 picks up the work from the lower mold 1a for hemming at a fixed position.

<Hemming method>
Next, a hemming method by the hemming system 10 will be described with reference to FIGS. FIG. 2 is a perspective view of the hemming robot in the hemming processing system shown in FIG. FIG. 3 is a cross-sectional view of the hemming process by the hemming robot shown in FIG.
As shown in FIG. 2, the hemming robot 3 is an articulated robot and includes a robot arm 31 and a main body base 32. A hemming roller (bending blade) 33 is connected to the tip of the robot arm 31. The main body base 32 is fixed to the robot base 34 so as to be rotatable. The height of the robot base 34 is for hemming in which a roller (bending blade) 33 connected to the tip of the robot arm 31 is multi-staged in the vertical direction via the mold receiving bases 2a, 2b, 2c on the processing stage KS. It is set to an appropriate height at which the workpieces for A car, B car, and C car placed on the lower molds 1a, 1b, and 1c can be hemmed.

As shown in FIG. 3, the workpiece W is placed on the upper surface 12 of the lower mold 1 for hemming. The workpiece W includes an inner panel W1 set upward and an outer panel W2 set downward. The inner panel W1 is formed with an outer peripheral flange W1S that contacts the outer peripheral surface of the outer panel W2. A hemming flange W2S that rises upward is formed on the outer peripheral edge of the outer panel W2.
The hemming processing roller (bending blade) 33 connected to the tip of the robot arm 31 forms a cylindrical body, and presses the hemming flange W2S of the outer panel W2 in the direction of the arrow K by the outer peripheral surface of the cylindrical body. Pre-bend and then main-bend. The main bending is performed until the outer peripheral flange W1S and the hemming flange W2S of the inner panel W1 are brought into contact with each other. The roller (bending blade) 33 for hemming is moved while rotating along the hemming flange W2S while maintaining a predetermined gap P from the upper surface 12 of the lower mold 1 for hemming, and the hemming flange (periphery of the work W) Part) Hemming the entire circumference of W2S.
The plurality of hemming robots 3 divide the machining range within the entire circumference of the hemming flange (peripheral edge) W2S of the workpiece W and operate simultaneously. The machining locus of the hemming robot 3 is taught for each type of workpiece W and stored in a control unit (not shown). The hemming robot 3 and the workpiece transfer robot 4 operate in synchronization with receiving an instruction from the control unit.
The hemming roller (bending blade) 33 may be a hem blade formed in a predetermined shape.

<Multi-stage method of lower mold for hemming>
Next, a multi-stage method of the lower hemming mold 1 (1a, 1b, 1c) in the machining stage KS and the mold storage stage HS will be described with reference to FIGS. FIG. 4 shows a side view of the hemming processing system (processing vehicle A) shown in FIG. FIG. 5 is a cross-sectional view taken along the line AA in the processing stage of FIG. FIG. 6 shows a BB cross-sectional view of the mold storage stage of FIG. FIG. 7 shows a side view of the hemming processing system (processing the B car) shown in FIG. FIG. 8 is a cross-sectional view taken along the line CC in the processing stage of FIG. FIG. 9 shows a DD cross-sectional view of the mold storage stage of FIG. FIG. 10 shows a side view of the hemming processing system (processing the C car) shown in FIG. FIG. 11 is a cross-sectional view taken along line EE in the processing stage of FIG. FIG. 12 shows an FF cross-sectional view of the mold storage stage of FIG.

(When processing car A)
As shown in FIGS. 4 and 5, in the processing stage KS, a recess 22 a formed in the mold receiving base 2 a for the A car is fixed on the floor surface, and a lower die for hemming for the A car is formed on the upper surface 221 a of the recess 22 a. 1a is fastened. Convex portions 21a, 21a formed on the left and right ends of the mold receiving base 2a for the A car are extended to the rear end of the mold storage stage HS. The upper ends 211a and 211a of the convex portions 21a and 21a are formed at a position higher than the upper end of the lower hemming die 1a for the A car and substantially parallel to the floor surface.
Here, the hemming processing roller (bending blade) 33 joined to the tip of the robot arm 31 is located above the lower hemming die 1a for the A vehicle while avoiding interference with the convex portions 21a and 21a. The hemming flange (peripheral edge) W2S of the workpiece W for a vehicle can be hemmed.

As shown in FIGS. 4 and 6, in the mold storage stage HS, the mold cradle 2b for the B car is placed on the upper ends 211a and 211a of the convex portions 21a and 21a of the mold cradle 2a for the A car. It is stored so as to be laterally movable to the processing stage KS. The B-car mold cradle 2b includes a concave portion 22b that is rectangular in plan view, and convex portions 21b and 21b that are formed at both left and right ends of the concave portion 22b. A lower hemming die 1b for B-car is fastened to the upper surface 221b of the recess 22b. The convex portions 21b and 21b of the mold cradle 2b for the B car extend to the rear end of the mold storage stage HS. The upper ends 211b and 211b of the convex portions 21b and 21b are formed substantially parallel to the floor surface at a position higher than the upper end of the lower hemming die 1b for the B car. Further, the upper ends 211b and 211b of the convex portions 21b and 21b are in contact with the lower surface of the mold receiving base 1c for the C car.
When the mold cradle (2b, 2c) on which the lower mold for hemming (1b, 1c) is placed is moved laterally between the mold storage stage HS and the processing stage KS, the convex portions (21a, 21a, 21b). 21b) engages with the upper mold cradle (2b, 2c) to guide the moving direction, and the moving force can be further reduced.

  As shown in FIGS. 4 and 6, rectangular auxiliary bases 6 and 6 are erected on the left and right ends of the mold storage stage HS with a mold receiving base 2 b for the B car interposed therebetween. On the upper ends 61 and 61 of the auxiliary bases 6 and 6, a mold receiving base 2c for a C car is placed. A hemming lower mold 1c for a C car is fastened to the upper surface of the mold cradle 2c for the C car. The heights of the upper ends 61 and 61 of the auxiliary base 6 are the same as the heights of the upper ends 211b and 211b of the convex portions 21b and 21b of the B-car mold receiving base 2b.

(When processing car B)
As shown in FIGS. 7 and 8, the processing stage KS includes a mold for the B car that is laterally moved in the direction of the arrow S1 from the mold storage stage HS at the upper end of the convex portion 21a of the mold cradle 2a for the A car. A cradle 2b is placed. The lower die 1b for hemming for B cars is fastened to the recess 22b of the die base 2b for B cars.
Here, the hemming processing roller (bending blade) 33 joined to the tip of the robot arm 31 is located above the lower hemming die 1b for the B vehicle while avoiding interference with the convex portions 21b and 21b. The hemming flange (peripheral edge) W2S of the workpiece W for a vehicle can be hemmed.

  As shown in FIGS. 7 and 8, the recess 22b of the mold receiving base 2b for the B car is provided with the mold receiving base for the A car via the convex parts 21b and 21b formed at the left and right ends of the mold receiving base 2b. It is mounted on the upper ends 211a and 211a of the convex portions 21a and 21a of 2a. Therefore, in the processing stage KS, the lower hemming die 1b for the B car is vertically connected to the lower hemming die 1a for the A car via the die receiving base 2b for the B car and the mold receiving base 2a for the A car. Multi-stage in the direction.

As shown in FIGS. 7 and 9, the mold storage stage HS has a C-car mold receiving base 2 c to which a C-car hemming lower mold 1 c is fastened, and upper ends 61 and 61 of the auxiliary bases 6 and 6. Is placed. Since the C-type mold cradle 2c is located at the uppermost stage, no convex portion is formed.
Since the upper ends 211b and 211b of the convex portions 21b and 21b of the mold receiving base 2b for the B car have the same height as the upper ends 61 and 61 of the auxiliary bases 6 and 6, the lower mold for hemming for the C car The type C base 2c for the C car to which the 1c is fastened is transferred from the upper ends 61, 61 of the auxiliary bases 6, 6 to the upper ends 211b, 211b of the convex portions 21b, 21b of the type B base 2b for the B car, Can move sideways.

(When processing car C)
As shown in FIGS. 10 and 11, the processing stage KS has moved laterally from the mold storage stage HS in the direction of the arrow S2 to the upper ends 211b and 211b of the convex portions 21b and 21b of the mold cradle 2b for the B car. A mold cradle 2c for the C car is placed. A hemming lower mold 1c for a C car is fastened to the mold cradle 2c for the C car.
Here, the hemming roller (bending blade) 33 joined to the tip of the robot arm 31 is located above the lower hemming die 1c for the C car, and the hemming flange (peripheral part) of the work W for the C car. W2S can be hemmed.

As shown in FIGS. 10 and 11, the type C base 2c for the C car is placed on the upper ends 211b and 211b of the convex portions 21b and 21b of the type B base 2b for the B car. For this reason, the lower hemming mold 1c for the C car is used for the lower hemming for the B car via the mold receiving base 2c for the C car, the mold receiving base 2b for the B car, and the mold receiving base 2a for the A car. It is multistaged in the vertical direction with the die 1b and the lower die 1a for hemming for the A car.
As shown in FIGS. 10 and 12, the die storage stage HS includes the lower hemming die 1b for the B car and the lower hemming die 1c for the C car, which are laterally moved to the machining stage KS. The use mold is not stored.

(When the number of workpieces is increased)
Next, for example, a multi-stage method of the mold storage stage HS when there are four types of workpieces (for A car, B car, C car, and D car) will be described with reference to FIG. FIG. 13 shows a cross-sectional view of the mold storage stage when there are four types of workpieces.
As shown in FIG. 13, the auxiliary bases 6 and 6 shown in FIGS. 4 to 12 are changed to first auxiliary bases 7 and 7 and second auxiliary bases 8 and 8 having different heights. In addition, a concave portion 22c for fastening the lower die 1c for hemming and convex portions 21c and 21c are formed at both ends in the left-right direction on the mold cradle 2c for the C car. Then, the mold receiving base 2c for the C car is supported by the first auxiliary bases 7 and 7, and the added type receiving base 2d for the D car is supported by the second auxiliary bases 8 and 8.
The height of the upper ends of the first auxiliary bases 7 and 7 is equal to the height of the upper ends of the convex portions 21b and 21b of the mold receiving base 2b for the B vehicle, and the height of the upper ends of the second auxiliary bases 8 and 8 is C. It is equal to the height of the upper ends of the convex portions 21c, 21c of the vehicle mold cradle 2c.
The type cradle 2a for the A car and the type cradle 2b for the B car have the same structure as described above.

  Even if the types of workpieces W increase in this way, the hemming lower mold 1 can be stored in multiple stages by adding auxiliary stands 6, 7, 8... Having different heights to the mold storage stage HS. Can do. Moreover, the convex part 21 which supports the upper stage type cradle 2 is formed in the left-right direction both ends of the lower stage side cradle 2 except for the uppermost stage cradle 2, and the height of the convex part 21 is corresponding. By making it equal to the height of the auxiliary bases 6, 7, 8. it can. As a result, in the machining stage KS, the hemming lower mold 1 can be multi-staged in the vertical direction via the mold cradle 2.

<Configuration and positioning method of workpiece positioning device>
Next, the configuration and positioning method of the workpiece positioning apparatus will be described with reference to FIG. FIG. 14 is a perspective view of a positioning device used in the present hemming processing system.
As shown in FIG. 14, the workpiece positioning device 5 includes a reference pin unit 51, a reference pin fixing unit 52, a portal arm 53, a portal arm swinging unit 54, a lifting arm 55, and a lifting arm drive unit. 56 and a base 57.

The reference pin unit 51 includes a plurality of reference pins 511, a cross-shaped holder 512 that holds each reference pin 511, and a rotary device 513 that rotates the holder 512 in the direction of arrow R1. The reference pin 511 is inserted into a reference hole (not shown) formed in the inner panel W1 of the workpiece W. The reference pin 511 is exchanged depending on the type of workpiece. The reference pin 511 is replaced by rotating the rotary device 513.
The reference pin fixing unit 52 includes a V-shaped restriction member 521 and a linear motion device 522 that moves the restriction member 521 forward and backward toward the cage 512. The restricting member 521 engages with a V-groove formed on the back surface of the retainer 512 when advanced.

The gate-type arm 53 is configured by joining a horizontal arm 531 and a vertical arm 532 to form an L-shaped arm body, and joining a mounting plate 533 to the lower end of the vertical arm 532. A reference pin unit 51 and a reference pin fixing unit 52 are fixed to the mounting plate 533. A guide pin 534 is formed at the lower end of the horizontal arm 531.
The elevating arm 55 supports the horizontal arm 531 of the portal arm 53 by a shaft portion 552 formed at the upper end. The elevating arm 55 has elevating rack teeth 553 attached to the side walls. A guide block 554 into which a guide pin 534 is inserted is fixed below the shaft portion 552 of the lifting arm 55. A gate-type arm swing unit 54 is fixed to the upper end of the lifting arm 55.
In the gate-type arm swinging unit 54, the driving body 542 rotates the shaft body 541 connected to the shaft portion 552 of the lifting arm 55, and the gate-type arm 53 is rotated in the direction of the arrow R2. By rotating the portal arm 53 in the direction of the arrow R2, the reference pin 511 is put in and out of the reference hole of the workpiece.

The lift arm drive unit 56 includes pinion teeth 561 that mesh with the rack teeth 553, a rotation shaft 562, and a rotation body 563. The lift arm drive unit 56 lifts and lowers the lift arm 55 in the direction of the arrow S according to the height of the lower hemming die 1 on the processing stage KS.
The base 57 includes a cylindrical body 571 into which the elevating arm 55 is inserted, and is installed on the processing stage KS.
According to the positioning device 5 described above, it is possible to easily position a plurality of types of workpieces by arranging them adjacent to the machining stage KS, thereby contributing to improvement in equipment space efficiency. Further, the positioning device 5 can be changed in parallel with the lower die setting change, and the line stop time due to the setting change can be shortened.

<Effect>
As described above in detail, according to the hemming processing system 10 according to the present embodiment, the hemming lower mold 1 can be multistaged in the vertical direction via the mold cradle 2 at the processing stage KS. In the lower die changeover after the hemming, the lower hemming die 1 to be hemmed next is placed on the lower hemming die 1 previously hemmed via the die cradle 2 or the next If the lower hemming die 1 placed on the lower hemming die 1 to be hemmed through the die cradle 2 is removed together with the die cradle 2, the next hemming process can be resumed. Therefore, the lower die change after hemming is performed by placing the next lower hemming die 1 via the die receiving base 2 or removing the previous lower hemming die 1 together with the die receiving stand 2. It is not necessary to perform both removal and placement of the lower mold 1 for hemming and the mold cradle 2. Therefore, the line stop time required for lower die changeover can be greatly shortened.
Further, since the lower die 1 for hemming can be multi-staged in the vertical direction via the die support 2 at the machining stage KS, the equipment space of the machining stage KS can be reduced.

Further, according to the present embodiment, the mold storage stage HS that stores the hemming lower mold 1 in a multi-stage shape is provided, and the hemming lower mold 1 can be moved laterally between the mold storage stage HS and the processing stage KS. Therefore, the lower mold 1 for hemming can be moved laterally by a simple driving device or manually in the lower mold changing after hemming. Therefore, it is not necessary to lift the hemming lower mold 1 between the mold storage stage HS and the processing stage KS with lifting claws such as a forklift and carry it. Therefore, the line stop time due to transportation of a forklift or the like is eliminated, and the line stop time required for lower die changeover can be further shortened.
Further, by storing the hemming lower mold 1 in a multistage shape, the storage space can be made compact, and only the lateral movement from the mold storage stage HS for storing the hemming lower mold 1 in a multistage shape to the processing stage KS is possible. Therefore, the moving time of the lower mold 1 for hemming can be greatly shortened, and the moving space can be greatly reduced.

  In addition, according to the present embodiment, the hemming lower mold 1 is placed on the mold receiving base 2, and the upper stage of the hemming lower mold 1 on which the hemming lower mold 1 is placed is placed on the lower stage in the processing stage KS. Since it is supported by the mold cradle 2, hemming pressure acting on the peripheral edge W <b> 2 </ b> S of the workpiece W can be received via the lower mold cradle 2 that supports the upper mold cradle 2. Then, by receiving the hemming pressure by the upper and lower mold pedestals 2, it is possible to prevent the hemming lower mold 1 from being bent even if the thickness of the lower hemming mold 1 is reduced. Therefore, it is possible to further improve the equipment space efficiency by increasing the number of lower hemming molds 1 that can be multistaged while keeping the equipment cost of the lower hemming mold 1 as the dedicated equipment low.

  Further, according to the present embodiment, the machining stage KS is provided with the hemming robot 3 in a direction (in the direction of arrow Y) perpendicular to the moving direction of the lower hemming die 1 and the moving direction of the lower hemming die 1 Since the workpiece transfer robot 4 is disposed in the same direction (direction of arrow X), the traveling axis of the workpiece transfer robot 4 is abolished while avoiding interference between the hemming lower mold 1 and the hemming robot 2. can do. Therefore, the equipment space of the processing stage KS can be further reduced, and the equipment cost can be further reduced.

  In particular, the present invention can be used as a hemming processing system in which a work is placed on a lower mold for hemming and a peripheral edge of the work is bent by a hem blade or a roller attached to the tip of a robot arm.

DESCRIPTION OF SYMBOLS 1 Hemming lower type | mold 1a, 1b, 1c Hemming lower type | mold 2 Type receiving stand 2a, 2b, 2c type receiving stand 3 Hemming robot 4 Workpiece conveyance robot 5 Positioning device 6 Auxiliary stand 7 1st auxiliary stand 8 2nd assistance Table 10 Hemming system 31 Robot arm 33 Roller (bending blade)
KS processing stage HS type storage stage W work W2S hemming flange (peripheral part)

Claims (3)

A hemming system that performs hemming by placing a workpiece on a lower mold for hemming on a processing stage and bending the peripheral edge of the workpiece with a bending blade attached to the tip of a robot arm,
The lower mold for hemming can be multistaged in the vertical direction via a mold cradle on the processing stage ,
Among the lower hemming molds that are multi-staged in the vertical direction, a mold storage stage that stores only the mold cradle to which the upper hemming lower mold is fastened is provided.
A mold cradle fixed to the machining stage and fastened with a lower lower hemming mold can be moved laterally from the mold storage stage to the machining stage. The hemming processing system , wherein the guiding convex portion extends to the rear end of the mold storage stage . The hemming system according to claim 1 ,
The hemming lower molds are respectively placed on the mold cradle,
The hemming processing system according to claim 1, wherein the upper stage receiving stage on which the lower hemming mold is placed is supported by the lower stage receiving stage. In the hemming processing system according to claim 1 or 2 ,
The machining stage includes a hemming robot disposed in a direction orthogonal to a moving direction of the lower hemming mold, and a workpiece conveying robot disposed in the same direction as the moving direction of the lower hemming mold. Hemming processing system.

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