JP6698070B2 - Processing equipment - Google Patents

Description

  The present invention relates to a processing apparatus, and more particularly to a processing apparatus including a presser hand that holds a work and presses it against an anvil.

The door panel of an automobile has various forms depending on the type of vehicle, but includes an inner panel and an outer panel, and the outer edge portion is formed by hemming.
BACKGROUND ART Conventionally, as a device for hemming the outer edge portion of a door panel, for example, a roller-type hemming device that performs hemming while pressing a roller against a work is known (for example, Patent Document 1).

  The roller-type hemming machine uses a general-purpose robot to operate the rollers, which simplifies the equipment, reduces running costs, and builds a flexible machining line. It can be suitably used for a line.

  In addition, since the roller type hemming processing device can use a general-purpose robot, it is possible to reduce the burden of capital investment and easily respond to vehicle type switching at the time of model change, so expansion of application is expected. ing.

  The hemming processing device disclosed in Patent Document 1 includes a clamping device that clamps an outer edge portion of a work in which an inner panel and an outer panel placed on an anvil are combined. Then, the hemming device hemmes the outer edge portion of the work while pressing the roller against the anvil while the work is clamped by the clamp device so as not to shift with respect to the anvil.

JP, 2010-194568, A (refer to Drawing 1 and Drawing 2)

  However, in the roller-type hemming processing device described in Patent Document 1, since the outer edge portion for processing the work is clamped from the outside of the work, the roller is arranged at the outer edge portion when hemming by moving the roller. The rollers interfere with many clamping devices. For this reason, there is a problem in that the processing must be performed while avoiding the interference of the rollers and the control becomes complicated and the processing time increases.

  Further, since the door panel of an automobile has various shapes depending on the vehicle type, the anvil that supports the hemming portion of the workpiece also has various shapes according to the shape of the hemming portion. Therefore, in the door panel production line, the anvil must be replaced every time the vehicle type is changed.

  In the hemming device described in Patent Document 1, if a work clamping device is included, the structure becomes complicated and the number of parts increases, and at the same time, the base part of the anvil that supports the clamping device becomes large and the mass increases and the size increases. As a result, there was a problem that the number of manufacturing steps would be excessive.

  In addition, in the case of anvils that have become larger and have increased mass, the load on the transfer device such as a robot that transfers and replaces the anvil when the vehicle type is switched becomes excessively large and the line configuration becomes large. There has been a problem that a large number of man-hours are required and productivity is lowered.

  The present invention has been made in view of such a background, and provides a processing apparatus capable of shortening the processing time by the processing means, simplifying the anvil replacement work, and improving the productivity. Is an issue.

In order to solve the above-mentioned problems, the invention according to claim 1 has an anvil on which a work is placed, a presser hand that holds the work, and a presser hand that conveys the presser hand to carry the work in and out of the anvil. A conveying device, a restraint means for pressing the work supported by the anvil against the anvil to position and restrain the work on the anvil, and a roller for holding the work in the restrained state by the restraint means. And a roller hemming device for moving the hemming process portion while pressing the hemming process part , wherein the restraining means is provided on the anvil and the presser hand . A second coupling device coupled to the first coupling device, and coupling the first coupling device and the second coupling device to constrain the presser hand and the anvil as a unit. A presser pad that is disposed on the presser hand and presses and constrains the work against the anvil.

  In the processing apparatus according to the present invention, since the presser hand has the holding device that holds the work, the presser hand can be carried by the carrying device while the work is held by the presser hand. Therefore, it is possible to carry the work held in the presser hand by the carrying device into or out of the anvil.

  In the processing apparatus according to the present invention, the presser hand is provided with a holding device for holding the work on a presser hand frame which is a base, so that the holding device can be manufactured for each work for many kinds of works. Since the presser hand frame can be shared, for example, the number of design and manufacturing steps can be reduced when the vehicle type is switched.

  Since the processing device according to the present invention includes the connecting device that integrally restrains the presser hand and the anvil, the presser hand can be positioned and connected in the horizontal direction and the vertical direction with respect to the anvil. it can.

  The presser hand is provided with a presser pad that presses and restrains the work against the anvil, so that the work is positioned with respect to the anvil when the work is held at a predetermined position by the holding device and placed on the anvil. The presser pad can be brought into contact with a predetermined position of the work. Further, the work can be pressed against the anvil and restrained by the presser pad that is brought into contact with the predetermined position of the work.

In this way, the processing apparatus according to the present invention can position and fix the work on the anvil by the presser pad by integrally constraining the presser hand and the anvil.
For this reason, the processing apparatus according to the present invention does not need to be provided with a large number of clamp devices, actuators, or the like for fixing the work from the outside of the anvil, and thus the anvil can be reduced in weight with a simple configuration.

Further, since it is not necessary to provide a large number of clamp devices from the outside of the anvil, during processing by the roller hemming device , for example, by approaching the roller hemming device from the outside of the anvil, interference with the clamp device is reduced, Processing time can be shortened.

Further, the processing apparatus according to the present invention includes the connecting device that integrally restrains the presser hand and the anvil, and thus the conveying device can convey the anvil through the presser hand.
Therefore, for example, at the time of switching the work, the anvil and the presser hand can be conveyed together, and the set can be changed by exchanging the set with another anvil and the presser hand.
Further, since the processing apparatus according to the present invention can be suitably applied to a processing apparatus that produces various kinds of workpieces while being switched, it is preferably applied to a roller hemming apparatus used for hemming a door panel of a vehicle body or the like. You can

As described above, the processing device according to the present invention can shorten the processing time by the roller hemming device , simplify the anvil replacement work, and improve the productivity. Therefore, the present invention can be suitably applied to a production line that produces various kinds of works while switching between them, and the line equipment can be simplified.

  The invention according to claim 2 is the processing apparatus according to claim 1, wherein the presser hand is a presser hand frame that serves as a base body, and a holding device that is disposed in the presser hand frame and holds the work. It is characterized by having.

  In the processing apparatus according to the present invention, the presser hand is provided with a holding device for holding the work on a presser hand frame which is a base, so that the holding device can be manufactured for each work for many kinds of works. Since the presser hand frame can be shared, for example, the number of design and manufacturing steps can be reduced when the vehicle type is switched.

  The invention according to claim 3 is the processing apparatus according to claim 1 or 2, wherein the anvil overhangs a work supporting part that supports the work and an outer side of the work supporting part in plan view. And an outer edge extending portion integrally connected to the work supporting portion, and the first connecting device is disposed in the outer edge extending portion.

Processing apparatus according to the present invention, by which is arranged said first coupling device to the outer extension portion that is coupled to protrude outward from the workpiece support, the connecting device to the roller hemming apparatus during machining by the roller hemming apparatus Since the interference can be effectively prevented, the processing time can be further shortened.

  The invention according to claim 4 is the processing apparatus according to claim 3, wherein an anvil table that supports the anvil, an anvil clamp that fixes the anvil to the anvil table, the anvil and the anvil table are provided. And a positioning means for positioning.

The processing apparatus according to the present invention is provided with an anvil table that supports the anvil, and is provided with an anvil clamp that fixes the anvil to the anvil table, thereby reinforcing the rigidity of the anvil having the product shape of the work with the anvil table. can do.
For this reason, the processing apparatus according to the present invention can further reduce the weight of the anvil, downsize the transfer apparatus, simplify the equipment, and reduce man-hours for exchanging the anvil to improve productivity.

The invention according to claim 5 is the processing apparatus according to claim 1 , wherein the work comprises an outer panel and an inner panel, and the presser pad is in the vicinity of the inside of the hemming processing part, The outer panel is in contact with the overlapping portion of the outer panel and the inner panel.

In the processing apparatus according to the present invention, the presser pad is brought into contact with the vicinity of the inner side of the hemming processed portion, so that the hemming processed portion is firmly fixed while effectively avoiding interference between the presser pad and the roller during processing by the roller. Can be held at.
Further, by bringing the presser pad into contact with the overlapping portion of the outer panel and the inner panel at the outer edge portion of the work, the outer panel and the inner panel can be held so as not to shift.

The invention according to claim 6 is the processing apparatus according to claim 1 , wherein the work is a door panel of a vehicle body, the door panel has a door panel sash portion in which an opening is formed, and the roller hemming The apparatus is characterized in that the roller is approached from the back side of the anvil on the side opposite to the presser hand, and the roller is inserted from the opening to process the inner peripheral portion of the door panel sash portion.

  The processing apparatus according to the present invention inserts the roller from the opening portion of the door panel sash portion and processes the inner peripheral portion of the door panel sash portion, thereby interfering with the presser pad while pressing the work by the presser pad. It can be avoided.

The invention according to claim 7 is the processing apparatus according to claim 1 , wherein the workpiece held by the presser hand is conveyed to a position facing the anvil by the conveying device, and the workpiece is held at a predetermined position by the restraining means . After restraining, the work is hemmed by the roller hemming device .

The processing apparatus according to the present invention conveys the work held by the presser hand by the conveyance apparatus to a position facing the anvil, and restrains the workpiece at a predetermined position by the restraining means , and then the roller hemming apparatus holds the work. The hemming process can be suitably applied to a production line for producing a wide variety of works while switching between them to improve the productivity.

The invention according to claim 8 is the processing apparatus according to claim 1, wherein the coupling device is an automatic tool changer device that detachably couples the first coupling device and the second coupling device. , Is characterized.

  The processing device according to the present invention can simplify the configuration and secure an appropriate restraining force by using the versatile automatic tool changing device having various forms as the connecting device.

According to a ninth aspect of the present invention, there is provided an anvil on which a work is placed, a presser hand that holds the work, a transfer device that transfers the presser hand to transfer the work in and out of the anvil, and the anvil. A constraint unit that presses the mounted work against the anvil to position and constrain the work on the anvil; a processing unit that performs a predetermined process while the work is constrained by the constraint unit; A processing apparatus comprising: an anvil table that supports an anvil; an anvil clamp that fixes the anvil to the anvil table; and positioning means that positions the anvil and the anvil table, wherein the restraining means is the anvil. And a second connecting device arranged on the presser hand and connected to the first connecting device. The first connecting device and the second connecting device are connected to each other. And a connecting device for integrally constraining the presser hand and the anvil, and a presser pad disposed on the presser hand for constraining the work by pressing it against the anvil. A work supporting portion that supports the work supporting portion, and an outer edge extending portion that projects outward from the work supporting portion in a plan view and is integrally connected to the work supporting portion are provided, and the first connecting device is arranged in the outer edge extending portion. When the work is switched to switch the work to another work, the anvil and the other presser hand adapted to the other work by the transfer device are integrated with the anvil and the presser hand by the restraining means . It is characterized by replacing with.

In the processing apparatus according to the present invention, the anvil and the presser hand are exchanged together in a state where the anvil and the presser hand are integrated by the restraining means , so that the switching work man-hours can be reduced and the productivity can be improved. it can.

According to a tenth aspect of the present invention, an anvil on which a work is placed, a presser hand that holds the work, and the work placed on the anvil are pressed against the anvil to position the work on the anvil. Restraining means for restraining the work, a working means for performing a predetermined machining in a state where the work is restrained by the restraining means, a work standby region for waiting the work in the restrained state by the restraining means, and a predetermined work for the work. A machining device having a workpiece machining region for machining, wherein the restraining means is a first coupling device disposed on the anvil and a first coupling device disposed on the presser hand and coupled to the first coupling device. 2 coupling device, a coupling device that couples the first coupling device and the second coupling device to constrain the presser hand and the anvil as a unit, and the work disposed on the presser hand to the anvil. An anvil table having a presser pad for pressing and restraining the anvil, a wheel provided on the anvil table, and a wheel that is laid from the work standby area to the work processing area and guides the wheel. And a moving rail for moving the anvil table to the work processing area, a positioning jig disposed in the work processing area for supporting and positioning the anvil table, and the anvil table from the work standby area to the work Moving means for moving to the processing region, the moving means moves the anvil table onto the positioning jig while guiding the anvil table by the moving rail , and the positioning jig supports and positions the anvil table. It is characterized by

The processing apparatus according to the present invention moves the anvil table onto the positioning jig while guiding the anvil table by the moving rail by the moving means, thereby supporting the own weight of the anvil table by the moving rail during movement of the anvil table. Therefore, it is possible to reduce the load on the moving means such as using a smaller robot and guide the moving rail so that the anvil table can be easily positioned.

  The processing apparatus according to the present invention can shorten the processing time by the processing means, simplify the anvil replacement work, and improve the productivity. Therefore, the present invention can be suitably applied to a production line that produces various kinds of works while switching between them, and the line equipment can be simplified.

It is a front view which shows the structure of the roller hemming apparatus which concerns on the 1st Embodiment of this invention. It is a principal part expansion disassembled front view of FIG. 1 which shows the structure of the anvil and the presser hand which concern on the 1st Embodiment of this invention. It is a perspective view showing composition of an anvil in a roller hemming device concerning an embodiment of the present invention. It is a perspective view which shows the structure of the presser hand in the roller hemming apparatus which concerns on the 1st Embodiment of this invention. It is a principal part front view corresponding to FIG. 1 which shows operation|movement of the roller hemming apparatus which concerns on the 1st Embodiment of this invention, and shows a mode that a conveyance apparatus carries in/out a workpiece|work. It is a principal part front view which shows operation|movement of the roller hemming apparatus which concerns on the 1st Embodiment of this invention, and shows a mode that the anvil carried in was fixed. It is a principal part front view which shows operation|movement of the roller hemming apparatus which concerns on the 1st Embodiment of this invention, and shows a mode that hemming of a workpiece|work is carried out with a roller. It is a principal part front view which shows operation|movement of the roller hemming apparatus which concerns on the 1st Embodiment of this invention, and shows a mode that a conveyance apparatus supports and hemmes a workpiece|work in the state inclined. It is a figure which shows a mode that the inner peripheral part of the door panel sash part in the roller hemming apparatus which concerns on the 1st Embodiment of this invention is hemmed, (a) is a top view of a door panel, (b) is A of (a). It is a front sectional view taken along the line A. FIG. 10 is an overall view of FIG. 9 showing how the inner peripheral portion of the door panel sash portion is hemmed in the roller hemming device according to the first embodiment of the present invention. It is a principal part front view which shows operation|movement of the roller hemming apparatus which concerns on the 1st Embodiment of this invention, and shows a mode that an anvil and a presser hand are conveyed together by a conveyance apparatus, and are exchanged. It is a fragmentary sectional view which shows operation|movement of the ATC apparatus in the roller hemming apparatus which concerns on the 1st Embodiment of this invention, (a) is a state before connection, (b) is a state during connection, (c) is after connection. Indicates the state of. It is a front view which shows the roller hemming apparatus which concerns on the 2nd Embodiment of this invention, and a mode that a work exists in a work standby area. It is a front view which shows the roller hemming apparatus which concerns on the 2nd Embodiment of this invention, and shows a mode that a work exists in a work processing area.

A roller hemming device 1 which is a processing device according to a first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 5 as appropriate.
As shown in FIG. 1, the roller hemming device 1 is a device for hemming the outer peripheral edge portion (hemming processing portion W3) of a work W by a working robot 10 by rolling a roller 11 which is a processing means.

  The work W is a door panel of the vehicle body (see FIG. 9A). The door panel is composed of an outer panel W1 and an inner panel W2, and has a main body portion for accommodating a door window and a door panel sash portion W4 (see FIG. 9A) in which an opening portion of the door window is formed. The outer shapes of the anvil 2 (see FIG. 3) and the presser hand 4 (see FIG. 4) are determined according to the shape of the door panel which is the work W.

  Further, when the roller hemming device 1 processes the inner peripheral portion W41 of the door panel sash portion W4 as shown in FIG. 9A, as shown in FIG. 9B, the opening of the door panel sash portion W4 is opened. A roller 11a having a small diameter is inserted from the back side (the lower side in the figure) of the portion to perform hemming.

<Processing device for outer edge of door panel>
An embodiment in the case of processing the outer peripheral edge portion (hemming processing portion W3, see FIG. 9A) of the work W will be described.
As shown in FIG. 1, the hemming process includes a pre-bending process of bending the flange portion (hemming process portion W3) of the outer panel W1 to a predetermined angle of about 30 to 45 degrees, and a pre-bending outer panel W1. The main bending step of pressing the outer edge portion against the inner panel W2 and further bending the inner panel W2 so as to wind the inner panel W2.
Although the main bending step may be performed in two steps, it is not particularly limited in the embodiment of the present invention, and thus detailed description of the procedure is omitted.

  The work robot 10 is a device that operates the roller 11 to perform a predetermined process. The work robot 10 is a program-controlled multi-joint robot, and a roller 11 is attached to the tip of the robot hand. The work robot 10 performs the hemming process in each of the pre-bending process and the main bending process, and while adjusting the movement trajectory and the inclination angle of the roller 11 by the hemming process portion W3 of the work W.

  The roller hemming device 1 conveys the anvil 2 on which the work W is placed, the anvil table 3 that supports the anvil 2, the presser hand 4 that holds the work W, and the presser hand 4 to convey the work W to the anvil 2. A transporting device 5 for loading and unloading the work W and a restraint means 6 for positioning and restraining the work W on the anvil 2 are provided, and the work robot 10 operates the roller 11 while the work W is restrained by the restraint means 6. Hemming process.

<Restriction means>
As shown in FIG. 2, the restraint means 6 includes a coupling device 61 that restrains the presser hand 4 and the anvil 2 as one body, and a presser pad 62 that is disposed in the presser hand 4 and that restrains the work W by pressing it against the anvil 2. And are equipped with.
The connecting device 61 includes a first connecting device 61a fixed to the anvil 2 (first outer edge extension 23 described later), and a second connecting device 61b fixed to the presser hand 4 (presser hand frame 41 described later). The first connecting device 61a and the second connecting device 61b are connected to each other, and the presser hand 4 and the anvil 2 are integrally connected and restrained.

  The restraint means 6 is a device for pushing the work W placed on the anvil 2 against the anvil 2 to restrain the work W. The restrainer 6 positions the presser hand 4 relative to the anvil 2 by the coupling device 61 and couples the presser hand 4 to the presser pad 62. Is brought into contact with the inside of the outer edge portion (hemming processing portion W3) of the work W to restrain the work W on the anvil 2.

  The restraint means 6 abuts the presser pad 62 on the work W in a state where the first connecting device 61a and the second connecting device 61b are connected to each other. You can A predetermined pressing force may be generated by bending the presser pad 62, and the pressing force may be used to fix the work W to the anvil 2.

  As the coupling device 61, an ATC device (automatic tool changer), a so-called tool changer can be preferably adopted. The ATC device is a detachable fixing device that is disposed at the tip of a robot or the like to detachably replace and fix a processing device such as a tool or a circuit. The ATC device locks a ball by pressing it against a wedge member. Various types such as a fixed type and a wedge fixed type in which the wedge member is pressed against the wedge member to be locked can be adopted.

As shown in FIG. 12, the ball-fixed ATC device 61 includes a connected side (tool side) connecting device (61a) that is a first connecting device 61a and a drive side (main body side) that is a second connecting device 61b. And a coupling device (61b).
The tool-side coupling device 61a has, for example, an engaging recess 61c, and is arranged on the anvil 2 (see FIG. 2) side. The main body side coupling device 61b has an engagement convex portion 61d fitted into the engagement concave portion 61c, and is arranged on the presser hand 4 (see FIG. 2) side. The ATC device 61 can be integrally connected and fixed in a state in which the tool-side connecting device 61a and the main body-side connecting device 61b are engaged with each other.

Specifically, the tool-side coupling device 61a includes a guide hole 61e provided on the upper surface and a wedge portion 61f formed in the engaging recess 61c. The main body side coupling device 61b moves the guide pin 61g inserted into the guide hole 61e, the ball 61h that is arranged in the engagement convex portion 61d so as to come into and out of contact with the wedge portion 61f, and the ball 61h so that it can be drawn in and out. And a ball drive mechanism (not shown).
The ball drive mechanism employs, for example, a piston cylinder mechanism that is driven using fluid pressure such as air pressure.

The ATC device 61 operates as follows.
That is, as shown in FIG. 12( a ), the engaging protrusion of the main body side connecting device 61 b is located at a position (upper side in the figure) facing the engaging concave part 61 c of the tool side connecting device 61 a by the carrying device 5 (see FIG. 1 ). The part 61d is positioned. Then, as shown in FIG. 12( b ), the main body side coupling device 61 b is moved downward in the figure by the transport device 5 (see FIG. 1), and the guide pin 61 g is inserted into the guide hole 61 e to connect the tool side coupling. The ball 61h of the device 61a is lowered to a position where it comes into contact with the sloped surface of the wedge portion 61f, and the device 61a is stopped. In this stationary state, the ATC device 61 pushes the ball 61h outward by a ball drive mechanism (not shown) to press it against the sloped surface of the wedge portion 61f.
In this manner, the ATC device 61 uses the connecting device 61 to bring the upper surface of the tool-side connecting device 61a and the lower surface of the main body-side connecting device 61b into close contact with each other (see FIG. 12(c)), thereby enabling the presser hand. 4 and the anvil 2 can be connected and restrained (see FIG. 6).

  In this embodiment, as shown in FIG. 1, an ATC device is used as the connecting device 61 for weight reduction and compactness. However, if restrictions on weight reduction and the like are allowed, horizontal 2 directions and vertical 1 Any generally known connecting device or clamping device may be adopted as long as it can position the anvil 2 and the presser hand 4 in three directions.

  For example, although not shown, as another modification, the coupling device 6 includes a guide hole (for example, a knock hole) provided in the first coupling device 61 and a guide pin (for example, a knock pin) provided in the second coupling device 61b. ) Is used for horizontal positioning, and a connecting device for vertically positioning by fixing the first connecting device 61a and the second connecting device 61b with a clamping device using an actuator such as an air cylinder is adopted. Good.

  As shown in FIG. 2, the presser pad 62 is a rod-shaped member having an L-shaped angle, and has a tip portion near the inside of the hemming processed portion W3 and an outer panel W1 at the outer edge portion of the work W. It is in contact with the overlapping portion W31 of the inner panel W2. By bringing the presser pad 62 into contact with the vicinity of the inner side of the hemming processed portion W3, it is possible to avoid the interference between the roller 11 and the presser pad 62 while firmly holding the hemming processed portion W3. Therefore, the hemming process can be performed by moving the roller 11 while holding the work W by the presser pad 62.

As shown in FIG. 4, the presser pad 62 is appropriately arranged at a predetermined position at a predetermined interval on the outer edge portion of the work W along the vicinity of the inside of the hemming processed portion W3 so as to firmly hold the work W. There is. The presser pad 62 is fixed to the presser hand 4 via an ATC device 63 so as to be freely attached and detached.
The ATC device 63 includes a first connecting device 63a and a second connecting device 63b. Since the configuration of the ATC device 63 is the same as that of the ATC device 61, duplicated detailed description will be omitted.

<Anvil>
As shown in FIG. 2, the anvil 2 broadly means a mounting member for mounting the work W and performing a predetermined processing, and is an anvil in the case of hemming, and the roller 11 at the time of hemming. The rigidity is ensured so that deformation such as bending does not occur in consideration of the pressure applied by.
As shown in FIG. 3, the anvil 2 includes a work supporting portion 21 that supports the work W (see FIG. 1 ), a reinforcing frame 22 that reinforces the work supporting portion 21, and a first supporting member that is integrally connected to the work supporting portion 21. The first outer edge extension portion 23 and the support bolt 24 (see FIG. 3) that supports the work support portion 21 are provided.

  The work support portion 21 is a portion on which the work W is placed and supported, and is shaped and processed to have a shape that matches the shape of the work W so that the hemming portion W3 of the work W can be supported from the back side. .. Specifically, as shown in FIG. 3, the work supporting portion 21 supports a front side portion 21a and a rear side portion 21b that support the main body portion of the outer panel W1, a lower side portion 21c and an upper side portion 21d, and a door sash portion. The upper side portion 21e and the rear side portion 21f are provided.

The work supporting portion 21 is formed with an opening 21g that matches the opening of the door panel sash portion W4 (see FIG. 9A).
An outer gauge (not shown) for positioning the work W by bringing it into contact with the outer edge of the work W is provided near the work support portion 21. However, the outer gauge is not particularly limited. Detailed description is omitted.

  The reinforcing frame 22 is a member for reducing the weight of the anvil 2 while ensuring the rigidity of the work supporting portion 21, and is arranged in a proper shape and at an appropriate location in consideration of the shape of the work supporting portion 21.

  The first outer edge extending portion 23 is a member for disposing the first connecting device 61a, and is provided so as to project to the outside of the work supporting portion 21 in plan view. The first outer edge extension portion 23 is arranged in a predetermined number in consideration of the shape of the work support portion 21 so that the roller 11 (see FIG. 1) does not interfere with the first coupling device 61a during the hemming process. In the present embodiment, two places are provided at the opposite left and right positions from the viewpoint of weight reduction and avoidance of interference, but they may be appropriately set at three places or at four or more places.

As shown in FIG. 2, the support bolt 24 is arranged like a pillar between the anvil table 3 and the work support portion 21, and is attached to the work support portion 21 in consideration of the pressure applied by the roller 11 during hemming. It is arranged at a necessary place so that deformation such as bending does not occur.
As shown in FIG. 3B, the support bolt 24 includes a bolt 24 a having a threaded portion and a fixing member 24 b such as a nut that fixes the bolt 24 a to the work supporting portion 21. With such a configuration, the support bolt 24 has the bolt 24a screwed into the work support portion 21 to adjust the protruding length thereof, and the fixing member 24b fixes the bolt 24a to the work support portion 21. The length between the supporting part 21 and the supporting part 21 is adapted. By providing the support bolts 24, it is possible to further reduce the weight of the work supporting portion 21 and improve the rigidity.

The roller hemming apparatus 1 comprises an anvil 2 on which a hemming portion W3 having the product shape of the work W is placed and an anvil table 3 supporting the anvil 2 as separate bodies, and the anvil 2 can be separated from the anvil table 3. (See FIG. 11).
The anvil table 3 includes an anvil mounting table 31 that supports the anvil 2, a clamp device 32 that fixes the anvil 2 to the anvil mounting table 31, and positioning means 33 that positions the anvil 2 and the anvil mounting table 31. There is.

  The anvil mounting table 31 is, so to speak, a base member of the anvil 2 and has a function of reinforcing the anvil 2 to suppress deformation and bending and improve rigidity. Further, by supporting the anvil 2 on the anvil mounting table 31, the anvil 2 can be reduced in weight, and the anvil mounting table 31 and the clamp device 32 can be commonly used for various types of anvils that differ depending on the vehicle type. it can.

The clamp device 32 includes a clamper 32a that fixes the anvil 2 to the anvil mounting table 31, and an actuator 32b such as an air cylinder that drives the clamper 32a.
In consideration of the shape, rigidity and the like of the anvil 2, the clamp devices 32 are arranged around the anvil 2 in a predetermined number, in the present embodiment, at two positions facing each other on both sides. The configuration of the clamp device 32 is not particularly limited, and detailed description thereof will be omitted.

  The positioning means 33 includes a guide bush 33a embedded in the anvil 2 and a positioning pin 33b fitted into the guide bush 33a and fixed to the anvil mounting table 31 (see also FIG. 11). With such a configuration, the positioning unit 33 positions the anvil 2 and the anvil mounting table 31 in the horizontal direction (left-right direction and front-back direction).

As shown in FIG. 2, the presser hand 4 includes a presser hand frame 41 that serves as a base body, and a holding device 42 that is disposed on the presser hand frame 41 and holds the work W.
As shown in FIG. 4, the presser hand frame 41 conveys the work W by the conveying device 5 (see FIG. 1) while the work W is supported by the holding device 42, or supports the presser pad 62 and presser pad 62. Is a structural member that serves as a base body for pressing against the work W or connecting to the anvil 2 via the second connecting device 61b.

The presser hand 4 is provided with an ATC device 51 (see FIG. 2) for carrying by the carrying device 5.
The ATC device 51 includes a first connecting device 51 a provided on the upper side (upper surface) of the presser hand 4 and a second connecting device 51 b provided at the tip of the carrying device 5. Since the configuration of the ATC device 51 is the same as that of the ATC device 61, duplicated detailed description will be omitted.

The presser hand frame 41 includes a work supporting shape portion 41a having an outer shape of the work W, a reinforcing frame 41b for reinforcing the work supporting shape portion 41a, and a work supporting shape portion 41a protruding outward from the work supporting shape portion 41a. And a second outer edge extension portion 41c that is integrally connected.
The work support shape portion 41 a is configured to face the work support portion 21 of the anvil 2. A presser pad 62 is arranged on the lower side (lower surface) of the work supporting shape portion 41a.

The reinforcement frame 41b is a member for reducing the weight of the presser hand frame 41 while ensuring the rigidity of the work supporting shape portion 41a, and in consideration of the shape of the work supporting shape portion 41a, the reinforcement frame 41b is appropriately formed at an appropriate position. Although provided, they are provided in a lattice shape inside the work supporting shape portion 41a.
A holding device 42 is arranged on the lower side (lower surface) of the reinforcing frame 41b.

  The second outer edge extending portion 41c is a member for disposing the second connecting device 61b connected to the first connecting device 61a, and is provided so as to project outside the work supporting shape portion 41a in plan view. ing. The second outer edge extension portions 41c are arranged at positions that fit the first coupling device 61a, and in the present embodiment, they are provided at two left and right positions facing each other from the viewpoint of weight saving and avoidance of interference, The number may be set appropriately and may be three or four or more.

  The holding device 42 is a device that holds the works W composed of the outer panel W1 and the inner panel W2 together, and various holding means can be applied. For example, negative pressure is used to suck and hold the work W. Use a vacuum cup. Since the holding device 42 is not particularly limited, detailed description thereof will be omitted.

The transfer device 5 is an articulated robot, and is provided with a second connection device 51b of the ATC device 51 at the tip of the robot hand so that the presser hand 4 can be held and transferred.
The carrying device 5 can carry the presser hand 4 and carry the work W into and out of the anvil 2 (see FIGS. 5 and 6 ). As shown in FIG. 5, when loading and unloading the work W, the coupling of the coupling device 61 is released, and the presser hand 4 is transported with the presser hand 4 and the anvil 2 separated. FIG. 6 shows a state in which the work W is loaded into the anvil 2 and a state before being unloaded, in which the first coupling device 61a and the second coupling device 61b in the coupling device 61 are coupled.

  In addition, as shown in FIG. 11, the transport device 5 connects the presser hand 4 and the anvil 2 in a state in which the presser hand 4 is connected to the anvil 2 by connecting the first connection device 61a and the second connection device 61b of the connection device 61. 2 can be conveyed as a unit.

  With such a configuration, the roller hemming device 1 transfers the work W to another work by the transfer device 5 in a state where the anvil 2 and the presser hand 4 are integrated by the connecting device 61 when the work W is switched to another work. Since a suitable anvil and another presser hand can be exchanged, the number of man-hours for switching work can be reduced and productivity can be improved.

<Processing device for inner peripheral edge of door panel sash>
Subsequently, a case where the inner peripheral portion W41 of the door panel sash portion W4 is processed by the roller hemming device 1 will be described mainly with reference to FIGS. 9 and 10.
As shown in FIG. 9, when processing the inner peripheral portion W41 of the door panel sash portion W4, the roller hemming device 1 connects the work robot 10a to the door panel sash portion W4 from the opening 31a formed in the anvil mounting table 31. To the opening 31a.
Specifically, the work robot 10a inserts the small-diameter roller 11a from the opening 31a of the door panel sash portion W4 from the back side of the anvil mounting table 31 to perform hemming.
In addition, when processing the inner peripheral portion W41 of the door panel sash portion W4, the other configurations are the same as those when processing the outer peripheral edge portion (the hemming processing portion W3) of the work W, and therefore, duplicated description will be omitted. ..

In the hemming process of the upper part of the door panel in the inner peripheral part W41 of the door panel sash part W4 (right side of the drawing of FIG. 9B), the presser pad 62 presses the inside of the hemming process part W3 of the outer peripheral part to restrain the work W. In this state, the working robot 10a rolls the roller 11a for processing.
Therefore, it is possible to avoid the interference between the roller 11 and the presser pad 62 when processing the outer peripheral edge portion (the hemming processing portion W3) of the work W while rolling the roller 11 by the work robot 10.

In the hemming process for the lower portion of the door panel in the inner peripheral portion W41 of the door panel sash portion W4 (on the left side in the drawing of FIG. 9B), the outer panel W1 is hemmed to the belt reinforcement BR, which is a reinforcing member.
Even in this case, similarly to the hemming process for the upper part of the door panel, the work robot 10a smoothly hemmes the belt reinforcement BR and the outer panel W1 while rolling the roller 11a while sandwiching the belt reinforcement BR inside. Can be joined.

  The operation of the roller hemming device 1 according to the embodiment of the present invention configured as described above will be described mainly with reference to FIGS. 7 and 8. FIG. 7 to be referred to is a front view of a main part showing a state where a roller is used for hemming a workpiece. The left roller shows a main bending step, and the right roller shows a preliminary bending step. FIG. 8 is a main part front view showing a state in which a workpiece is supported by the transport device while being supported and hemming is performed.

  As shown in FIG. 7, the roller hemming device 1 positions the presser hand 4 horizontally and vertically with respect to the anvil 2 by integrally restraining the presser hand 4 and the anvil 2 by the connecting device 61. Link.

  When the presser hand 4 and the anvil 2 are integrally connected, the presser pad 62 presses the work W against the anvil 2 and restrains the work W while the work W is placed on the anvil 2 by the holding device 42.

In this way, the roller hemming device 1 can position and fix the work W on the anvil 2 by the presser pad 62 by integrally restraining the presser hand 4 and the anvil 2.
Therefore, the roller hemming device 1 does not need to be provided with a large number of clamp devices or actuators for fixing the work W to the anvil 2 from the outside of the anvil 2, and therefore the anvil 2 can be reduced in weight by a simple configuration, The replacement work can be simplified.

  Further, since it is not necessary to provide a large number of clamp devices from the outside of the anvil 2, by making the rollers approach from the outside of the anvil during hemming by the roller 11, interference with a large number of clamp devices is reduced, Processing time can be shortened.

  The roller hemming device 1 according to the embodiment of the present invention can shorten the hemming processing time by the roller 11 and simplify the replacement work of the anvil 2 to improve the productivity. For this reason, it can be suitably applied to a production line for producing a wide variety of works W while switching, and the line equipment can be simplified.

As shown in FIG. 8, the roller hemming device 1 according to the embodiment of the present invention supports the presser hand 4 by the conveying device 5 while the anvil 2 and the presser hand 4 are integrated by the restraint device 6. W can be tilted at a predetermined angle.
In this way, by freely holding the work W at a predetermined inclination angle, it is possible to flexibly cope with the work W having various forms and perform various works.
Further, since it is not necessary to separately provide an inclining device such as an inclining table or a rotary table, it is possible to simplify the production line, reduce equipment investment, and improve productivity.

  A roller hemming device 1A according to a second embodiment of the present invention will be described mainly with reference to FIGS. 13 and 14. In the roller hemming device 1A, the same components as those of the roller hemming device 1 according to the first embodiment described above are designated by the same reference numerals, and detailed description thereof will be omitted.

  The roller hemming device 1A includes an anvil 2 on which the work W is placed, a presser hand 4 that holds the work W, and a restraining means 6 that pushes the work W against the anvil 2 to restrain the work W. In the roller hemming apparatus 1A, the work W is constrained by the constraining means 6 and the working robot 10 operates the roller 11 to perform hemming. Such a configuration is the same as that of the roller hemming device 1 according to the first embodiment described above.

The roller hemming device 1A differs from the roller hemming device 1 according to the above-described first embodiment in the following configuration.
That is, the roller hemming device 1A includes a work standby area S1 for waiting the work W, a work processing area S2 for processing the work W, a work unloading area S3 for unloading the processed work W, and an anvil table for supporting the anvil 2. 3A, wheels 34A provided on the anvil table 3A, moving rails 35A and 38A for guiding the wheels 34A, a positioning jig 8 for supporting and positioning the anvil table 3A by a pedestal 81, and a positioning jig 8 A turntable 7 that rotatably supports the work table 10 and a work robot 10 that functions as a moving unit of the anvil table 3A are provided.

  The work standby region S1 is a region in which the work W is held by the restraining means 6 in a restrained state. Stopper means 9 for stopping the anvil table 3A at a predetermined reference position is provided in the work standby area S1. The stopper means 9 includes a stopper member 91 that is vertically movably guided, and a drive device 92 such as an air cylinder that moves the stopper member 91.

  With such a configuration, the stopper means 9 brings the anvil table 3A into contact with the stopper member 91 to stop it at a predetermined reference position while moving the stopper member 91 upward, and also moves the stopper member 91 downward. In this state, the anvil table 3A can be moved to the work processing area S2.

  In the work standby area S1, an operator (not shown) moves the anvil table 3A from the storage location onto the moving rail 35A by the forklift and moves the anvil table 3A so as to abut against the stopper member 91, but the work is not particularly limited. It is also possible for a person to carry the anvil table 3A from a storage place by hand and push it into a predetermined position on the moving rail from an inclined portion set at the end of the moving rail 35A.

  The structure of the anvil table 3A from the anvil mounting table 31 is the same as that of the anvil table 3 according to the first embodiment, but the support plate 36A fixed below the anvil mounting table 31 and the anvil mounting table 31 are provided. And a positioning hole 37A formed in the lower part.

The support plate 36A is a member for transferring and supporting the anvil table 3A on the pedestal 81 of the positioning jig 8, and is elongated along the moving direction on the left and right sides with respect to the moving direction of the anvil table 3A. It is installed in.
The positioning hole 37A is a reference hole for positioning by the positioning jig 8 in the work processing area S2.

  With this configuration, when the work robot 10 moves the anvil table 3A to the work processing area S2 while guiding the wheels 34A by the transport rails 35A, the support plate 36A rides on the pedestal 81 and the anvil table 3A is positioned and fixed. It is designed to be transferred onto the tool 8.

  The transport rail 35A is not installed in the work processing area S2, and the anvil table 3A is configured not to be constrained by the transport rail. Further, since the entire apparatus is configured to be lightweight, the turntable 7 can have a turntable function of rotating the anvil table 3A at a relatively high speed with a simple configuration. It is possible to significantly improve the work efficiency of hemming.

  The configurations of the support plate 36A and the pedestal 81 of the positioning jig 8 are not particularly limited, and the lower surface of the anvil mounting table 31 may be supported by the pedestal 81 without providing the support plate 36A. Instead of the cradle 81, it is possible to employ a supporting means such as a cylindrical roller that is supported by a line or a cradle or a table that has a spherical ball that is supported by a point.

As for the wheels 34A, a total of four wheels including front wheels and rear wheels are arranged on both left and right sides with respect to the traveling direction of the anvil table 3A, and are guided along a moving rail 35A and a moving rail 38A.
The moving rail 35A is laid from the work standby area S1 to the work processing area S2. The anvil table 3A is provided in parallel with the left and right sides of the anvil table 3A so as to guide the wheels 34A provided on the left and right sides of the anvil table 3A. The moving rail 38A is laid from the work processing area S2 to the work unloading area S3.

The positioning jig 8 is a device which is disposed in the work processing area S2, supports the anvil table 3A by the receiving base 81, and positions the anvil table 3A at a predetermined processing reference position in the work processing area S2 by the positioning means 82. is there.
As shown in FIG. 14, the cradle 81 includes a support plate 36A arranged on the anvil table 3A so that the wheels 34A can be smoothly separated from the moving rails 35A while the support plate 36A is moved onto the cradle 81. The positional relationship between 36A and the pedestal 81 is set.

  The positioning means 82 is provided with a locate pin 82a which is inserted into the positioning hole 37A formed in the anvil table 3A for positioning, and a drive device 82b such as an air cylinder for vertically moving the locate pin 82a.

  With this configuration, the positioning unit 82 receives the anvil table 3A on the pedestal 81 with the locate pin 82a lowered by the drive device 82b, and then raises the locate pin 82a to move the anvil table 3A to the work processing area S2. Is positioned at a predetermined processing reference position in.

  When the work robot 10 moves the anvil table 3A from the work processing area S2 to the work unloading area S3, the positioning means 82 causes the drive device 82b to lower the locate pin 82a. The work robot 10 smoothly transfers the anvil table 3A from the pedestal 81 to the moving rail 38A with the locate pin 82a being lowered.

  The turntable 7 is a device that rotatably supports the positioning jig 8 and holds the positioning jig 8 at a predetermined rotation angle. The turntable 7 can change the direction of the work W with respect to the work robot 10. Therefore, various types of processing can be efficiently performed. be able to.

  The work robot 10 is a device that operates the roller 11 to perform hemming processing. In the present embodiment, however, the anvil table 3A is also moved from the work standby area S1 to the work unloading area S3 through the work processing area S2. It also functions as a moving means for moving.

  Specifically, the work robot 10 is configured such that the roller 11 or a predetermined engaging member (not shown) provided at the tip end of the work robot 10 is engaged with the engaged hole formed in the anvil table 3A. Is moved in the horizontal direction to move the anvil table 3A from the work standby area S1 to the work processing area S2 and from the work processing area S2 to the work unloading area S3.

  The roller hemming device 1A according to the second embodiment of the present invention has the following operational effects. That is, the roller hemming device 1A supports the own weight of the anvil table 3A by the transfer rail 35A while the anvil table 3A is moving by moving the anvil table 3A onto the positioning jig 8 while supporting the anvil table 3A by the transfer rail 35A. Therefore, it is possible to reduce the load on the work robot that is the moving means.

  Therefore, even if the anvil table 3A is not hoisted and transported by the working robot 10 that is a moving means, the anvil table 3A can be transported by simply moving it horizontally. Therefore, a crane for transporting and a large transport robot are separately provided. It is possible to convey the anvil table 3A by using the work robot 10 for hemming without using.

  In this way, the roller hemming device 1A can lay a hemming processing line using a small work robot for hemming without using a crane or a large transport robot, so that the installation space can be saved. The efficiency can be improved, the hemming processing line can be simplified, and the transportation time can be shortened to improve the productivity.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be appropriately modified and implemented. In the present embodiment, the processing device according to the present invention is applied to the roller hemming device for the door panel that is the work W, but the invention is not limited to this, and the work W may be a hood or a back door instead of the door panel. The device can be applied not only to the roller hemming device but also to various processing devices such as a Schiller coating device, a welding device, and a coating device.

1 Roller hemming device (processing device)
2 Anvil 3 Anvil table 4 Presser hand 5 Transfer device 6 Restraint means 8 Positioning jig 10, 10a Work robot (moving means)
11,11a Roller (processing means)
21 Work Support 21g Opening 22 Reinforcement Frame 23 First Outer Edge Extension 24 Support Bolt 31 Anvil Placement Table 32 Clamping Device 33 Positioning Means 34A Wheels 35A, 38A Moving Rail 36A Support Plate 41 Presser Hand Frame 41a Work Support Shape 41b Reinforcement Frame 41c Second outer edge extension 42 Holding device 51 ATC device (automatic tool changer)
61 ATC device (connecting device, automatic tool changer)
61a Tool side coupling device (first coupling device)
61b Main unit side coupling device (second coupling device)
62 Presser pad 63 ATC device (automatic tool changer)
63a 1st connection device 63b 2nd connection device S1 Work standby area S2 Work processing area S3 Work unloading area W Work W1 Outer panel W2 Inner panel W3 Hemming processing part W4 Door panel sash part W31 Overlap part W41 Inner peripheral part of door panel sash part

Claims (10)

Anvil on which the work is placed,
A presser hand that holds the work,
A carrier device that carries the presser hand and carries the work in and out of the anvil,
Constraint means for pressing the work placed on the anvil to the anvil to position and constrain the work on the anvil,
A roller hemming device for moving the roller while pressing the work on the hemming processing part of the work while restraining the work by the restraining means,
The restraint means is
A first connecting device provided on the anvil and a second connecting device provided on the presser hand and connected to the first connecting device; and the first connecting device and the second connecting device. A connecting device for connecting the presser hand and the anvil as a unit by connecting
A presser pad disposed on the presser hand for restraining the work by pressing the work against the anvil,
Processing equipment. The presser hand is a presser hand frame which is a base body, and a holding device which is arranged on the presser hand frame and holds the work,
The processing apparatus according to claim 1, further comprising: The anvil is a work support part that supports the work,
An outer edge extending portion that is integrally connected to the work supporting portion so as to project outward from the work supporting portion in a plan view,
Disposing the first connecting device in the outer edge extension portion,
The processing device according to claim 1 or 2, characterized in that. An anvil table supporting the anvil,
An anvil clamp for fixing the anvil to the anvil table,
Positioning means for positioning the anvil and the anvil table,
Further equipped with,
The processing apparatus according to claim 3, wherein: The work consists of an outer panel and an inner panel,
The presser pad is in the vicinity of the inner side of the hemmed portion and is in contact with the overlapping portion of the outer panel and the inner panel at the outer edge portion of the work,
The processing apparatus according to claim 1 , wherein: The work is a door panel of the vehicle body,
The door panel has a door panel sash portion in which an opening is formed,
The roller hemming device processes the inner peripheral portion of the door panel sash portion by inserting the roller from the opening by causing the roller to approach from the back side of the anvil on the side opposite to the presser hand,
The processing apparatus according to claim 1 , wherein: The work held by the presser hand is conveyed to a position facing the anvil by the conveyance device, and the work is hemmed by the roller hemming device after the work is held in a predetermined position by the holding means . The processing device according to claim 1 . The coupling device is an automatic tool changer device that detachably couples the first coupling device and the second coupling device,
The processing apparatus according to claim 1, wherein: Anvil on which the work is placed,
A presser hand that holds the work,
A carrier device that carries the presser hand and carries the work in and out of the anvil,
Constraint means for pressing the work placed on the anvil to the anvil to position and constrain the work on the anvil,
Processing means for performing a predetermined processing while the work is restrained by the restraining means,
An anvil table supporting the anvil,
An anvil clamp for fixing the anvil to the anvil table,
Positioning means for positioning the anvil and the anvil table,
A processing device having
The restraint means is
A first connecting device provided on the anvil and a second connecting device provided on the presser hand and connected to the first connecting device; and the first connecting device and the second connecting device. A connecting device for connecting the presser hand and the anvil as a unit by connecting
A presser pad disposed on the presser hand to press and constrain the work against the anvil,
Equipped with
The anvil is a work support portion that supports the work,
An outer edge extending portion which is projected from the work supporting portion to the outside in a plan view and integrally joined to the work supporting portion,
Disposing the first connecting device in the outer edge extension portion,
When the work is switched to another work, the anvil and the presser hand suitable for the other work are exchanged by the transfer device while the anvil and the presser hand are integrated by the restraining means . thing,
Processing equipment. Anvil on which the work is placed,
A presser hand that holds the work,
Constraint means for pressing the work placed on the anvil to the anvil to position and constrain the work on the anvil,
Processing means for performing a predetermined processing while the work is restrained by the restraining means,
A work standby area for holding the work in a restrained state by the restraint means,
A processing apparatus having a work processing area for performing a predetermined processing on the work,
The restraint means includes a first coupling device disposed on the anvil, a second coupling device disposed on the presser hand and coupled to the first coupling device, the first coupling device and the second coupling device. A connecting device for connecting and restraining the presser hand and the anvil as a unit, and a presser pad disposed in the presser hand for restraining the work by pressing it against the anvil,
An anvil table supporting the anvil,
Wheels provided on this anvil table,
A moving rail that is laid from the work standby area to the work processing area and guides the wheels to move the anvil table to the work processing area,
A positioning jig that is disposed in the work processing area and supports and positions the anvil table;
Moving means for moving the anvil table from the work standby area to the work processing area,
Moving the anvil table by the moving means onto the positioning jig while guiding the anvil table by the moving rail , and supporting and positioning the anvil table by the positioning jig.
Processing equipment.

Images