JP7236066B2 - Springback correction device for panel molding - Google Patents

Description

When a metal material is press worked, there is a phenomenon called springback, in which the deformation of the material returns to its original state when the mold is released after the work.
The present invention relates to returning the spring-backed panel molded body to its regular shape at the trial production stage or the initial stage of mass production of the panel molded body and using it for trial production of automobiles and the like.

Conventionally, various proposals have been made as countermeasures against springback that occurs when metal materials are pressed.
In Patent Document 1, the relationship between the shape of the mold and the amount of springback is obtained by measuring the amount of springback in the actual press working of a metal material, and a panel molded body of the desired shape, that is, the normal shape, is press-worked. The shape of the mold is determined in consideration of the amount of springback as obtained in .

Therefore, in this proposal, the shape of the mold for obtaining the desired shape of the press-formed body is determined by trial and error.
Therefore, this method is too costly to make prototypes such as automobiles. It is very inconvenient because it is not possible to spend a lot of money on molds at the stage of making prototypes.

In Patent Document 2, the amount of springback generated in the panel molded body is calculated by simulation of press processing using a computer, and when it is determined that the processing result of the workpiece is not good, the shape of the mold and the press processing are calculated. It is a proposal to change the conditions and obtain the necessary die shape and press working conditions by trial and error by the inverse analysis method.

In this proposal, too, we sought the shape of the mold through trial and error, taking springback into account so that we could obtain a regular panel molding. Mold development costs too much.
In addition, new materials are appearing one after another, and simulations may not be easy.

Patent Document 3 proposes a device for removing the springback of a panel formed into a product shape by press working.
The panel molded body is pressed by a pressing member and heated using a heating electrode.
In this proposal, it is necessary to provide a panel receiving pressing member for each panel molded body of various shapes, and a heating device is also required, resulting in an extremely large-scale device.
Therefore, it costs too much to make a prototype of an automobile or the like.

JP 2016-020000 JP 2006-315063 Japanese Patent Laid-Open No. 07-204749

In press working at the mass production stage of automobiles and the like, the shape of the mold is determined taking into consideration the springback of the panel molded body, so that the panel molded body having a regular shape can be obtained from the beginning.
However, in order to determine the shape of the mold considering the springback, it is necessary to manufacture molds with different shapes several times until a panel molded body with a regular shape is obtained, and then obtain the final mold shape through trial and error. It takes a long time to train the mold, and the cost for training the mold is high.

On the other hand, since it is not possible to spend a large amount of money on molds in the trial production stage, it is common for skilled workers to manually correct spring-back irregular shaped panel moldings for use.
In this case, the manual work by skilled workers is hard work, the working environment is not good, it takes a long time to manufacture parts by manual work, and the quality of the panel molded body varies.

The present invention reproduces the technique of correcting deviation from the normal shape with springback by a skilled worker to the normal shape by attaching a tool for correcting the panel compact to the wrist of an existing vertical articulated robot. To improve the environment, to shorten the time required for springback correction, and to obtain a panel molded body with no variation in quality.
Moreover, it is intended to enable correction of springback without a skilled worker.

At least one of a pair of panel molded body holders attached to the tip can be moved by a servo motor having a motion control circuit, and a panel molded body correcting tool is attached to the wrist of a vertical multi-joint robot having a controller, and press working. In order to correct the panel molding which has caused springback due to the deformation, the operation control circuit and the controller are instructed to operate the tool for correcting the panel molding and the vertical articulated robot.

The tool for correcting the panel molded body is manufactured according to the type of work for correcting the panel molded body in which springback has occurred to a normal shape.

The types of work include warpage removal, angle correction, springback correction on a curved surface, twisting correction, and flange shape correction.
Correction of springback that occurs on a curved surface that is greatly curved means correction of springback that has occurred on a curved surface that is greatly curved by design.

At least one of the pair of panel molding holders is movable around a fulcrum in the holder.

Conventionally, at the prototype stage of automobiles, etc., it is not possible to spend much time and money on the development of molds. I used it after modifying it.
In the present invention, with reference to the repair work of skilled workers, a panel molding repair tool is attached to the wrist of a vertical articulated robot, and the repair work is performed by the operation of the robot and the operation of the servo motor attached to the panel molding repair tool. I made it possible.
Therefore, the correction work can be performed without skilled workers, the working environment is improved, the springback correction time can be shortened, and the product of the panel molded product without variation in quality can be produced.

In addition, by manufacturing the tool for correcting the panel compact according to the type of work when correcting it to a regular shape, it is possible to immediately respond to various correcting works.

Types of correction work include warp removal, angle change, correction of springback generated on a curved curved surface, correction by twisting, and correction of flange shape. It can respond immediately to springback.

At least one of the pair of panel molded body holders is movable around a movable fulcrum provided in the holder, so that no excessive force is applied to the panel molded body during repair work, and damage to the panel molded body is prevented. can be prevented.
Therefore, even if the center of bending is not the center of bending of the panel molded body, it can be bent.

Schematic illustration of springback correction for press-formed flanged panels Explanatory diagram for correcting warpage of panel molding Explanatory diagram for correcting springback of curved panel moldings with large bends Explanatory drawing for correcting a twisted panel molding Explanatory drawing for correction by changing the angle of the panel molding (bending) Explanatory drawing for correction by changing the angle of the panel molding (bending it back) Explanatory drawing of the movement of the panel molded body holder Drawing of tool for correcting panel molding Illustration of vertical articulated robot

Preferred embodiments of the present invention will be described below with reference to the drawings. It should be noted that the embodiments are not limited to the following, and can be changed as appropriate within the scope of the invention.
Further, even when the panel molded body deviates from the normal shape due to springback and other factors, it may be possible to correct the deviation.

FIG. 1 is an illustration of springback correction of a press-molded flange type panel showing one embodiment of the present invention. That is, it is an explanatory diagram of a correction method when the press-molded flange 8 is not at an appropriate angle due to springback or the like.
Move the controller 1 to the bent point P of the panel molding 8 to be corrected.
1, the operation of the vertical articulated robot 1, i.e., the operation of the joint 1 (A), etc., is performed to operate the panel compact correction tool 2 and the pair of panel compact holders 5 and 6 attached to the tip thereof. to move.
The vertical articulated robot 1 in this figure is simplified, but more details are shown in FIG.
shown in The same applies to FIGS. 2 to 6 as well.

Then, of the pair of panel molded body holders 5, 6, the movable side 5 is moved in the direction of arrow B by operating the servo motor 7, and the gap between the pair of panel molded body holders 5, 6 is properly adjusted. be.
Control of the servo motor is performed by instructions to the motion control circuit 12 .
Generally, the interval is set to an appropriate interval between the plate thickness of the panel molding 8 and about 1.5 times the plate thickness.

Next, the controller 11 instructs to operate the vertical articulated robot 1 to rotate the panel compact correcting tool 2 in the direction of arrow A or in the opposite direction so as to obtain an appropriate bending angle.
The direction of arrow A is for decreasing the angle, and the opposite direction is for increasing the angle.
In this case, the fixing surface 8 (A) of the panel molding 8 is fixed with a jig.
The power from the servo motor 7 to the panel molded body holder 5 when moving the pair of panel molded body holders 5 and 6 attached to the upper finger 3 in the direction of arrow B by the operation of the servo motor 7 Transmission is performed by a gear mechanism or the like.

FIG. 2 is an explanatory diagram for correcting the warpage of the panel molding.
When the panel molded body 8 is warped due to springback or the like, the wrist 1 (B) of the vertical articulated robot 1 is moved to move the panel molded body correcting tool 2 attached thereto to the panel molded body 8. Move the warped surface (8B) to the point P where you want to correct the warp. Next, the servomotor 7 is operated to move the panel molding holder 6 attached to the lower finger 4 upward in the direction of the movement arrow B so that the warped surface 8 (B) is brought into a proper state. It is pressed against the panel molded body holder 5 until it becomes

The warped surface 8 (B) of the panel molded body 8 by changing the position of the point P in the above operation.
Continue until the correct condition is reached.
When the lower finger 4 is moved in the direction of the movement arrow B by the servomotor 7, the upper and lower finger joint fulcrums 9 are centered.
The above process is performed by fixing the fixed surface 8 (A) of the panel molded body 8 with a jig.

The tip of the panel molding holder 5 attached to the upper finger 3 is concave.
Further, the panel molding holder 6 attached to the tip of the lower finger 4 is formed in a convex shape.
In addition, when the concave part and the convex part are pressed against each other with the warped surface 8 (B) of the panel molding 8 sandwiched, the concave part is not damaged by excessive force applied to the warped surface 8 (B). It is movable around a movable fulcrum Q within the holder 5 .
Power transmission from the servomotor 7 is the same as explained in FIG. The power transmission is the same in the following figures.

FIG. 3 is an explanatory diagram for correcting a panel molding having a curved surface that is greatly bent.
If the curved surface of the press-molded panel, which is greatly curved in design, is not in the proper shape or curve due to springback, etc., a pair of tips of the panel molded body correction tool 2 attached to the wrist 1 (B) of the vertical articulated robot 1 panel molded body holders 5 and 6
is moved by the operation of the robot 1 to the point P of the panel molding 9 to be corrected.

Then, the panel molded body holder 5 is moved in the direction of the movement arrow B by the servo motor 7 so that the positional relationship between the pair of panel molded body holders 5 and 6 of the panel molded body correcting tool 2 becomes appropriate.

Then, the robot 1 is operated to rotate the panel molding tool 2 about the bending point P in the direction of the rotation arrow A or in the opposite direction, thereby correcting the bending of the panel molding 8 due to springback or the like.
In this case, the end portion 8(C) of the fixing surface 8(A) of the panel molded body 8 is fixed with a jig.
The pair of panel molded body holders 5 and 6 are adapted to move in accordance with the shape of the panel molded body 8 around movable fulcrums Q provided on the respective holders. This is to prevent the panel molded body 8 from being damaged by an excessive force.

FIG. 4 is an explanatory diagram for correcting a twisted panel molding.
One end portion 8 (A) of the panel molded body 8 is fixed with a jig, and the other end portion 8 (C) is aligned with the shape and consists of a plurality of pins 5 (A) and 6 (A) to form the panel. panel molding holders 5, 6 constructed by moving them in and out according to the shape of the body 8
fixed by Note that the panel molded body holder 5 in this figure has a plurality of pins 5
(A), 6 is a collection of a plurality of pins 6 (A).
At this time, the holder 5 at the end of the upper finger 3 is moved in the direction of the movement arrow B by the servomotor.
Then, the vertical articulated robot 1 is operated in the direction of the arrow A with the bending center P as an axis to correct the twist of the panel molded body 9 .

FIG. 5 is an explanatory view of correction by changing the angle of the panel molding (bending).
That is, it is an explanatory view of correction when the angle of the bent portion of the press-molded panel body 8 is insufficient due to springback or the like.
A tool 2 for correcting the panel compact attached to the wrist 1 (B) of the vertical articulated robot 1 is moved by the robot 1 to the bending point P of the panel compact 8 .
Then, the servo motor 7 is operated to move the lower finger 4 in the direction of the movement arrow B, and the pair of panel molded body holders 5 and 6 press the panel molded body 8 at the bending point P position.

As a result, the bending angle of the panel molded body 8 is changed to a smaller angle.
That is, bending is performed.
In addition, the concave portion at the tip of the panel molded body holder 6 attached to the lower finger 4 is movable around the movable fulcrum Q. As shown in FIG. This is to prevent the panel molded body 8 from being damaged by an excessive force.
In the case of this bending, a convex holder 5 is attached to the upper finger 3 and a concave holder 6 is attached to the lower finger.
The above is performed by fixing the fixed surface 8 (A) of the panel molded body 8 with a jig.
The above operations are continuously performed by changing the position of the bending point P as necessary.

FIG. 6 is an explanatory view of correction by changing the angle of the panel molded body (by bending back).
That is, it is an explanatory diagram of the correction of bending back when the panel molded body 8 is excessively bent due to springback or the like.
In this case, a convex panel molded body holder 5 is attached to the upper finger 3, and the panel molded body holder 6 attached to the lower finger 4 is moved around the upper and lower finger joint fulcrum 9 in the direction of the arrow B by the servo motor 7. , and pressed against the convex holder 5. In this case, the fixed surface 8 (A) of the panel molded body 8 is fixed with a jig.

In this case, the convex holding body moves along the shape of the panel molded body 8 around the movable fulcrum Q as an axis.
This is to prevent the panel molded body 8 from being damaged by an excessive force acting thereon.
The above operations are continuously performed by changing the position of the point P as necessary.

FIG. 7 is a detailed explanatory view of the movement of the panel molding holder.
When the panel molded body 8 is pressed by the convex (or arrow-shaped) holder 5 and the lower panel molded body holder, the lower panel molded body composed of the concave panel molded body holder portion 6B and its base 6C. Of the holders, the portion of the concave panel molding holder 6B is movable around the movable fulcrum Q. As shown in FIG.

As a result, 6B of the panel molded body holders can be adjusted according to the shape of the panel molded body 8.
moves, and the contact timings of the two contact points P of the panel molded body 8 with 6B become the same.
As a result, excessive force is not applied to the panel molded body 8, and there is no risk of breakage. In addition, this allows the bending point R of the panel molded body 8 to be bent at a position other than the bending center.
As described in other embodiments, the convex panel molding holder 5 may be movable to produce the same effect.

FIG. 8 is a drawing of one embodiment of a tool for correcting panel moldings.
That is, it is an external perspective view of the panel compact correcting tool 2 attached to the wrist 1 (B) of the vertical articulated robot.
A convex panel molding holder 5 is attached to the upper finger 3 , and a concave panel molding holder 6 is attached to the lower finger 4 . The holders 5 and 6 are a pair of panel molding holders.
The wrist 1 of the vertical articulated robot 1 at the joint 2 (A) of the tool 2 for correcting the panel molded body
(B).

The tool 2 for correcting the panel molded body is prepared in advance according to the type of work such as warp removal of the panel molded body 8, angle correction, springback correction of a curved surface that is greatly curved in design, correction by twisting, flange shape correction, etc. be prepared.
The one shown in FIG. 8 is used for the work of correcting the angle of the panel molding 8 and the like.

FIG. 9 is an explanatory diagram of a vertical articulated robot.
The vertical articulated robot 1 has a robot lower arm 13 and a robot upper arm 14 .
It has a plurality of joints 1 (A) that rotate as indicated by the rotation arrow A. Further, it has a turning portion 1 (C) that turns like a turning arrow C, and the robot wrist 1 (B) turns like a turning arrow C as well.
A tool 2 for correcting a panel molding is attached to the robot wrist 1 (B) at a joint 2 (A). The robot wrist 1 (B) turns in the same manner as the turning section 1 (C).

Since springback occurs in the press working of metal materials, handling of springbacked panel moldings becomes a problem in the prototype stage of automobiles and the like. In the past, skilled workers had to manually correct the shape to a regular shape before use, but there were problems such as the quality being inconsistent and it taking a long time to correct.
In the present invention, the manual work is performed by a robot, so the above problem does not occur. Therefore, industrial applicability is extremely high.

1 Vertical articulated robot 1 (A) Robot joint 1 (B) Robot wrist 1 (C) Rotating part 2 Tool for correcting panel molded body 2 (A) Joining part of tool for correcting panel molded body to robot 3 Upper finger 4 lower finger 5 upper panel assembly holder 5 (A) upper panel assembly holder 6 composed of a plurality of pins lower panel assembly holder 6 (A) lower panel assembly holder composed of a plurality of pins Tool 7 Servo motor 8 Panel molded body 8 (A) Fixed surface 8 (B) Warped surface 8 (C) Edge of twisted panel molded body fixed by jig 9 Upper and lower finger joint fulcrum 10 Robot controller 11 Servomotor motion control circuit 12 Robot lower arm 13 Robot upper arm A Turning arrow B Moving arrow C Turning arrow Q Movable fulcrum P Point

Claims (4)

At least one of a pair of panel molded body holders attached to the tip is movable by a servomotor having a motion control circuit. A tool for correcting the panel molded body is attached to the wrist of a vertical multi-joint robot having a controller, and press work is performed. A device for correcting springback of a panel molded body, wherein an operation instruction is given to the operation control circuit and the controller in order to correct the panel molded body in which springback has occurred to a normal shape. 2. A device for correcting springback of a panel molded body according to claim 1, wherein said tool for correcting said panel molded body is manufactured according to the type of work for correcting said panel molded body to said normal shape. 3. The device for correcting the springback of the panel molding according to claim 2, wherein the types of work for correcting the shape to the regular shape include warp removal, angle correction, curved surface correction, twisting correction, and flange shape correction. 4. A device for correcting springback of a panel molded body according to claim 1, wherein at least one of said pair of panel molded body holders is movable around a fulcrum in said holder.

Images