JPH10180373A - Roller type behemming method and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely obtain the clinch force of metal sheets and to spotlessly make them by interposing a bonding agent of containing a slip preventing solid between members to be hemmed, restricting the slip of the metal sheets and hemming them. SOLUTION: A bonding agent 15 of containing glass beads 14 is spread on a joining face of an inner panel 13, an outer panel 12 is set on a hemming die, and the inner panel 13 spread with the bonding agent 15 is set on this outer panel 12. When a robot is controlled so that the roller 9 is held in the pressing angle of inclining as about 45 degree against the folding part R of the outer panel 9 and the roller 9 is pressed with rolling along the circumferential edge shape of the folding part R, the edge folding part is bent temporarily. Next, the attitude of the robot is controlled in order to orthogonally press the working parts of both panels 12, 13 from the upper side, when the roller is moved with rolling and pressing along the circumferential edge shape of the folding part R while changing the roller pressing force, the folding part R is folded perfectly and the hemming part is composed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a door,
The present invention relates to a roller-type hemming method and an apparatus for hemming a vehicle lid such as a hood and a trunk lid with a hem roller.

[0002]

2. Description of the Related Art Conventionally, in order to avoid the problem of an increase in the size and installation space of a die-type hemming device comprising an upper die, a lower die, a push die, a pre-hem blade, etc. A novel roller-type hemming method and apparatus have already been invented. That is, as shown in FIGS. 21 and 22, a jig 101 for supporting a hemmed member and a hem roller 102 that is controlled to be moved by a robot are provided. The outer panel 103 and the inner panel 104 are set on the jig 101, First, as shown in FIG. 21, a pre-bending process of rolling the hem roller 102 to the bent portion R and bending the hem roller 102 from the unbent state shown by the imaginary line in FIG. 21 to about 45 degrees is performed, and then the pressing angle by the robot and the hem roller 102 is performed. And a roller type hemming method and apparatus for performing a finish bending process in which the bent portion R after the preliminary bending process is again bent by the same hem roller 102 as described above.

According to this conventional means, if the robot is instructed (teached) in advance on the movement trajectory, the hem roller 102 is pressed and rolled to accurately follow the peripheral shape of the hemmed member, and is rolled. It is possible to promote efficient hemming processing continuously along the, so that the problems of large size and installation space like the conventional mold hemming means can be solved, and when the work changes, There is an advantage that sufficient changes can be made only by changing the software. However, according to this conventional means, it is necessary to spot-weld the hemmed portion in order to obtain a reliable restraining force after the hemming process, and there is a problem that an after-heme welding step is indispensable. There was a problem that the quality deteriorated.

On the other hand, for the purpose of eliminating afterhem welding and achieving spotlessness, the conventional means shown in FIGS. 21 and 22 uses a solid material to prevent slippage between members to be hemmed, that is, between the outer panel 103 and the inner panel 104. It is conceivable to perform hemming with the hem roller 102 with an adhesive containing (for example, spherical glass beads) interposed in advance. In this case, the hem roller 102 is used.
Are rolled sequentially from one side to the other side, so that during rolling, the above-described anti-slip solid material sequentially escapes in the traveling direction of the hem roller 102 (direction in which rolling pressure is weaker), and this anti-slip solid material is made of steel. Without biting between the hemmed members of
There is a problem that a clinch force (locking force) cannot be obtained.

[0005]

According to the first aspect of the present invention, an adhesive containing a non-slip solid material is interposed between members to be hemmed to prevent the plate material from slipping with the solid material. By performing hemming processing so that the solid material does not escape with the roller, the clinch force of the hemmed member due to the solid material fitting can be reliably obtained, and after-hem welding is abolished and spotlessness is achieved And a roller type hemming method.

According to a second aspect of the present invention, in addition to the object of the first aspect, by changing the pressing force of the roller in the direction of its movement, the solid material is controlled by the strength of the pressing force of the roller. It is an object of the present invention to provide a roller-type hemming method that can secure a reliable clinch force of a hemmed member by the above method.

According to a third aspect of the present invention, in addition to the object of the second aspect, a pressure cylinder (pressure means) for changing the pressing force of the roller in the roller moving direction is used. It is another object of the present invention to provide a roller-type hemming method that can easily adjust an applied pressure and easily obtain an appropriate pressure.

According to a fourth aspect of the present invention, in addition to the object of the second aspect of the present invention, a concave portion is provided on the outer periphery of the roller, thereby providing a reliable and simple structure. It is an object of the present invention to provide a roller-type hemming method capable of securing a clinch force.

According to a fifth aspect of the present invention, in addition to the object of the second aspect, by curing the adhesive in a coating and drying step, the hemming portion is completely cured by a curing treatment of the adhesive. It is an object of the present invention to provide a roller-type hemming method capable of restraining a roller.

According to a sixth aspect of the present invention, in addition to the object of the third or fourth aspect of the present invention, a reliable hemming process is performed on a lid for a vehicle such as a door, a hood, a trunk lid and the like. It is an object of the present invention to provide a roller-type hemming method that can be used.

In addition to the object of the first aspect of the present invention, the seventh aspect of the present invention provides a pre-bending process (pre-bending process) in which the anti-slip solid material contained in the adhesive slightly bites into the member to be hemmed. It is an object of the present invention to provide a roller-type hemming method capable of obtaining a reliable clinch force without escaping of a solid material, by including a main material forming process and a main bending process in which a solid material sufficiently digs into a hemmed member. .

According to an eighth aspect of the present invention, in addition to the object of the seventh aspect, the pre-bending (pre-bending) and the main bending are performed by the same robot. It is another object of the present invention to provide a roller-type hemming method capable of performing two-stage processing with the same equipment.

According to a ninth aspect of the present invention, in addition to the object of the seventh aspect, a door, a bonnet,
An object of the present invention is to provide a roller-type hemming method capable of performing a reliable two-stage hemming process on a vehicle lid such as a trunk lid.

According to a tenth aspect of the present invention, in addition to the object of the seventh aspect, by curing the adhesive in a coating and drying step, the humming portion is completely cured by a curing treatment of the adhesive. It is an object of the present invention to provide a roller-type hemming method capable of restraining a roller.

According to an eleventh aspect of the present invention, in addition to the object of the first aspect, a special roller structure and a roller are formed by forming an uneven portion on the adhesive interposed surface of the hemmed member. It is an object of the present invention to provide a roller-type hemming method that can reliably prevent escape of a solid material while ensuring control, and can secure a good clinch force.

According to a twelfth aspect of the present invention, in addition to the object of the eleventh aspect of the present invention, by forming the above-mentioned uneven portion on the inner panel joint surface, glass unevenness such as glass beads is formed by the uneven portion. An object of the present invention is to provide a roller-type hemming method that can reliably prevent escape of a solid material.

According to a thirteenth aspect of the present invention, in addition to the object of the eleventh aspect, the irregularities are formed by a laser dull roll (rolling roll). An object of the present invention is to provide a roller-type hemming method capable of performing a roller-type hemming process that can be easily formed under a flat plate state.

According to a fourteenth aspect of the present invention, in addition to the object of the eleventh aspect of the present invention, it is possible to perform a reliable hemming process on a vehicle lid such as a door, a bonnet and a trunk lid. An object of the present invention is to provide a roller-type hemming method that can be used.

According to a fifteenth aspect of the present invention, in addition to the object of the eleventh aspect, by curing the adhesive in a coating and drying step, the hemming portion is completely cured by curing the adhesive. It is an object of the present invention to provide a roller-type hemming method capable of restraining a roller.

According to a sixteenth aspect of the present invention, in addition to the object of the eleventh aspect of the present invention, a roller-type hemming method capable of simultaneously forming an uneven portion on a required portion of a hemmed member at the same time as pressing. The purpose is to provide.

According to a seventeenth aspect of the present invention, there is provided an apparatus for hemming a roller by interposing an adhesive containing a non-slip fixing material between hemmed members. Not only can obtain the clinch force of the member to be hemmed by the above, abolish the after-hem welding, and achieve spotlessness, but also easily adjust the pressing force and easily obtain the appropriate pressure. A roller type hemming apparatus is provided.

An invention according to claim 18 of the present invention is an apparatus for hemming with a roller by interposing an adhesive containing a non-slip solid material between the hemmed members, wherein the solid material escapes around the roller. By forming a concave part for prevention,
The clinch force of the member to be hemmed by the solid material can be reliably obtained, and after-hem welding can be eliminated to achieve spotlessness. Of course, the clinch force is simple and easy to control. It is an object of the present invention to provide a roller-type hemming apparatus capable of obtaining the following.

According to a nineteenth aspect of the present invention, there is provided an apparatus for hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members, so that the solid material is slightly bitten. By pre-bending (pre-bending) and providing a robot that performs full-bending so that the solid material can sufficiently penetrate, the clinching force of the hemmed member by the solid material is reliably obtained, and after-hem welding is abolished. It is another object of the present invention to provide a roller-type hemming apparatus capable of performing two-step processing of preliminary bending and main bending by the same robot as well as achieving spotlessness.

[0024]

According to a first aspect of the present invention, there is provided an adhesive containing a solid material for preventing slippage, the slip of a plate material is suppressed by the solid material, and the solid material is solidified by a roller. It is a roller-type hemming method for hemming so that the material does not escape. According to a second aspect of the present invention, in addition to the configuration of the first aspect of the present invention, there is provided a roller-type hemming method for changing a pressing force of the roller in a moving direction of the roller.

According to a third aspect of the present invention, there is provided a roller-type hemming method using a pressure cylinder for changing the pressing force of the roller in the roller moving direction, in addition to the configuration of the second aspect of the present invention. It is characterized by the following. According to a fourth aspect of the present invention, in addition to the configuration of the second aspect of the present invention, there is provided a roller-type hemming method in which a concave portion is provided on an outer periphery of the roller.

According to a fifth aspect of the present invention, in addition to the constitution of the second aspect of the present invention, there is provided a roller-type hemming method for curing the adhesive in a coating and drying step. The invention according to claim 6 of the present invention, together with the configuration of the invention according to claim 3 or 4, further includes a door,
It is a roller-type hemming method for hemming a vehicle lid such as a hood and a trunk lid with a roller.

According to a seventh aspect of the present invention, in addition to the configuration of the first aspect of the present invention, hemming is performed by a roller with an adhesive containing a solid material that prevents slippage interposed between the members to be hemmed. A roller-type hemming method, in which after the solid material is preliminarily bent so as to bite into the hemmed member by the roller, the roller type hemming method is performed so that the solid material sufficiently bites into the hemmed member by the roller. It is a hemming method.

According to an eighth aspect of the present invention, there is provided a roller-type hemming method in which the pre-bending process and the main bending process are performed by the same robot in addition to the configuration of the seventh aspect of the present invention. It is characterized by. According to a ninth aspect of the present invention, in addition to the configuration of the seventh aspect of the present invention, there is provided a roller-type hemming method for hemming a vehicle lid such as a door, a hood, and a trunk lid with a roller. Features.

According to a tenth aspect of the present invention, in addition to the constitution of the seventh aspect, a roller-type hemming method for curing the adhesive in a coating and drying step is provided. The invention of claim 11 of the present invention
A roller-type hemming method for performing hemming with a roller by interposing an adhesive containing a solid material that prevents slippage between the hemmed members in combination with the configuration of the invention according to claim 1. An uneven portion is formed on the adhesive interposed surface, and a roller-type hemming method is provided in which the adhesive is interposed in the uneven portion and then pressed by a roller to perform hemming.

According to a twelfth aspect of the present invention, in addition to the constitution of the eleventh aspect of the present invention, there is provided a roller-type hemming method in which the uneven portion is formed on the inner panel joint surface. . According to a thirteenth aspect of the present invention, in addition to the constitution of the eleventh aspect, the uneven portion is a roller-type hemming method formed by a laser dull roll.

According to a fourteenth aspect of the present invention, there is provided a roller-type hemming method for hemming a vehicle lid such as a door, a hood, a trunk lid, or the like with rollers in combination with the configuration of the eleventh aspect of the present invention. There is a feature. The invention according to claim 15 of the present invention is the above-described claim 1.
In combination with the constitution of the invention described in 1, the present invention is characterized in that the adhesive is a roller-type hemming method in which the adhesive is cured in a coating and drying step.

According to a sixteenth aspect of the present invention, in addition to the constitution of the eleventh aspect, the uneven portion is a roller-type hemming method formed simultaneously with the pressing of the hemmed member. Features. An invention according to claim 17 of the present invention is a roller-type hemming apparatus for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members, wherein the pressing force of the roller is reduced by a roller. It is a roller-type hemming device provided with a pressure cylinder that changes in the moving direction.

An invention according to claim 18 of the present invention is a roller-type hemming apparatus for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members. A roller type hemming device in which a concave portion for preventing escape of a solid material is formed.

According to a nineteenth aspect of the present invention, there is provided a roller-type hemming apparatus for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members. A roller type hemming device equipped with a robot that performs preliminary bending with a roller so as to bite into the hemmed member, and has a robot that performs full bending with a roller so that the solid material sufficiently bites into the hemmed member. I do.

[0035]

According to the first aspect of the present invention, an adhesive containing a non-slip solid material (for example, glass beads) is interposed between members to be hemmed, and the solid material is used to form a sheet material. Since the hemming process is performed so that the solid material is prevented from escaping by the rollers by suppressing the slippage (position shift), the clinch force of the plate material by the solid material fitting can be reliably obtained, and as a result, after-hem welding Is abolished and spotless operation can be achieved.

According to the invention described in claim 2 of the present invention,
In addition to the effect of the first aspect of the present invention, since the pressing force of the roller is changed in the moving direction (progressing direction) of the roller, it is possible to reliably prevent the solid material from escaping due to the strength of the roller pressing force. There is an effect that a reliable clinch force of the hemmed member by the solid material can be secured.

According to the third aspect of the present invention,
In addition to the effect of the second aspect of the present invention, since a pressing cylinder that changes the pressing force of the roller in the roller moving direction (roller moving direction) is used, the pressing force (pressing force) of the pressing cylinder is reduced. There is an effect that adjustment is easy and an appropriate pressure can be easily obtained.

According to the fourth aspect of the present invention,
In addition to the effect of the second aspect of the present invention, a concave portion is provided on the outer periphery of the roller, the pressing force is reduced by the concave portion of the roller, and the pressing force is increased by the non-recessed portion. However, there is an effect that a reliable clinch force can be secured by the strength of the above-mentioned pressing force.

According to the fifth aspect of the present invention,
In addition to the effect of the second aspect of the present invention, since the above-mentioned adhesive is cured in the coating and drying step using, for example, a coating and drying furnace, a hemming portion (a part completely bent) by the curing treatment of the adhesive. Has the effect of being able to be completely restrained.

According to the invention described in claim 6 of the present invention,
In addition to the effect of the third or fourth aspect of the present invention, there is an effect that a reliable hemming process can be performed on a vehicle lid such as a door, a hood, a trunk lid and the like.

According to the seventh aspect of the present invention,
In addition to the effect of the first aspect of the present invention, preliminary bending is performed by the above-mentioned roller so that the solid material slightly bites into the hemmed member, and then the main bending process is performed by the roller so that the solid material sufficiently bites into the hemmed member. Accordingly, there is an effect that the solid material is prevented from escaping at the time of the above-described pre-bending process, and the solid material is sufficiently sunk into the hemmed member at the next main bending process, so that a reliable clinch force can be obtained.

According to the invention described in claim 8 of the present invention,
In addition to the effect of the seventh aspect of the present invention, since the pre-bending process and the main bending process are performed by the same robot (one robot), two-stage processing can be performed by the same equipment. There is an effect that can be done.

According to the ninth aspect of the present invention,
In addition to the effect of the invention described in claim 7, there is an effect that a reliable two-stage hemming process can be performed on a vehicle lid such as a door, a hood, a trunk lid and the like. According to the tenth aspect of the present invention, in addition to the effect of the seventh aspect, the adhesive is cured in the coating and drying step after the hemming process. There is an effect that can be completely restrained.

According to the eleventh aspect of the present invention, in addition to the effect of the first aspect, a hemmed member having an uneven portion formed on the adhesive interposed surface is used. The adhesive is interposed, and then hemming is performed by pressing with a roller, so that a special roller structure or special roller control is not required, and the escape of the solid material is reliably prevented by the above-mentioned uneven portion, There is an effect that a good clinch force can be secured.

According to the twelfth aspect of the present invention, in addition to the effect of the eleventh aspect, the inner panel joining surface (the surface of the inner panel that contacts the outer panel or the surface of the outer panel that contacts the inner panel) Since the above-mentioned uneven portion is formed on at least one), there is an effect that the escape of a solid material such as glass beads can be reliably prevented by the uneven portion.

According to the thirteenth aspect of the present invention, in addition to the effect of the eleventh aspect, the irregularities are formed by a laser dull roll (rolling roll). There is an effect that it can be easily formed under a flat plate state while effectively utilizing the existing device sum.

According to the fourteenth aspect of the present invention, in addition to the effect of the eleventh aspect, the door,
There is an effect that a reliable hemming process can be performed on a vehicle lid such as a hood and a trunk lid. According to the fifteenth aspect of the present invention, the first aspect is provided.
In addition to the effect of the invention described in 1 above, since the adhesive is cured in the coating and drying step after the hemming process, there is an effect that the hemming portion can be completely restrained by the curing treatment of the adhesive.

According to the sixteenth aspect of the present invention, in addition to the effect of the eleventh aspect, an uneven portion can be formed at a necessary portion of the hemmed member at the same time as the pressing. There is an effect that a separate step of processing the concave and convex portions becomes unnecessary.

According to the seventeenth aspect of the present invention, since the pressing cylinder changes the pressing force of the hemming roller (hem roller) in the moving direction, the adjustment of the pressing force becomes easy, Further, there is an effect that an appropriate pressure can be easily obtained. In addition, since the hemming process is performed using a roller by interposing an adhesive containing a solid material that prevents slippage between the hemmed members, the clinch force of the hemmed member by the solid material is reliably obtained, and after-hem welding is performed. Needless to say, it can be abolished to achieve spotlessness.

According to the eighteenth aspect of the present invention, since the concave portion for preventing the escape of the solid material is formed on the outer periphery of the roller, it is possible to control the pressing force by the rotation and the rolling pressure of the roller. it can. For this reason, there is an effect that a reliable clinch force can be obtained while the configuration is simple and easy to control simply by forming a concave portion on the outer periphery of the roller.
In addition, since the hemming process is performed by a roller with an adhesive containing a non-slip solid material interposed between the hemmed members, the clinch force of the hemmed member by the solid material is reliably obtained, and after-hem welding is abolished. Thus, it is natural that spotlessness can be achieved.

According to the nineteenth aspect of the present invention, since the same robot performs the two-step processing of the preliminary bending and the main bending, the same equipment and apparatus perform the two-step bending. There is an effect that can be performed.
In addition, since the hemming process is performed by a roller with an adhesive containing a solid material that prevents slippage between hemming members, the clinching force of the hemmed member by the solid material is reliably obtained, and after-hem welding is abolished. Needless to say, spotlessness can be achieved.

[0052]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. (First Embodiment) The drawings show a roller-type hemming method and its apparatus. First, the configuration of a roller-type hemming apparatus will be described with reference to FIGS.

The roller-type hemming device 1 includes a hemming die 2 installed on the floor A and a robot 3.
The above-mentioned robot 3 is a multi-joint robot having a robot arm 6 and a robot hand 6 via a joint section 5. The robot hand 6 has a pressing cylinder 7 (pressing means) including a hydraulic cylinder and a roller. Chuck 8
(Roller holding means) through (hereinafter abbreviated as simply roller) Hemurora 9 diameter darkness 25 to 100 mm ^phi are mounted rotatably.

The above-described pressurizing cylinder 7 is
Operation signals (vibration signals, pressurization signals) are input to the hydraulic unit 10 from a control unit 11 (including a ROM, a RAM, and a CPU) such as a control panel.
The pressing force of the roller 9 is changed in the moving direction.

The above-mentioned hemming die 2 has an outer panel 12 having a plate pressure of about 0.8 mm ^t and serving as a member to be hemmed, such as a door, a hood or a trunk lid.
And the inner panel 13 are mounted thereon, and a plurality of necessary portions are held by openable / closable holding means (not shown). The opening / closing holding portion of the holding means does not interfere with the roller 9 when the roller 9 runs. The opening and retreating is performed as described above, and the closing holding operation is performed again after passing through the roller 9.

Further, as shown in FIGS. 3, 4 and 5, this roller-type hemming apparatus 1 has a spherical shape having a diameter of, for example, about 200 to 300 μm ^φ as an anti-slip solid material between the outer panel 12 and the inner panel 13. Many beadless beads 1
Hemming is performed by the above-mentioned roller 9 with an adhesive 15 containing about 4 wt.

The robot 3 has a three-dimensional movement trajectory in advance so as to accurately follow the peripheral shape corresponding to the shape of various works of a vehicle lid such as a door, a hood or a trunk lid as a hemmed member. Teaching (teaching) is performed for each work. Next, a roller-type hemming method according to the first, second, third, fifth, and sixth aspects will be described with reference to the process diagram shown in FIG. 6 and the explanatory diagrams shown in FIGS.

First, in a first step S 1 shown in FIG. 6, an adhesive 15 containing glass beads 14 is attached to the joint surface of the inner panel 13.
Is applied. Next, in a second step S2 shown in FIG. 6, the outer panel 12 is set on the hemming die 2, and the inner panel 13 on which the adhesive 15 is applied is formed on the outer panel 12.
Is set (see FIGS. 1 and 3). At this time, the outer panel 12 is in a state where the unbent portion 12b stands upright at a substantially right angle to the main surface 12a as shown in FIG.

Next, roller type hemming is performed in a third step S3 shown in FIG. The roller-type hemming process includes a temporary bending process shown in FIG. 4 and an unbending process shown in FIG.

First, the robot 3 is controlled (see FIG. 1) so that the roller 9 is maintained at a pressing angle of about 45 degrees with respect to the bent portion R of the outer panel 12 (see FIG. 1). When the roller 9 is rolled along the peripheral shape of the bent portion R, the unbent portion 12b in FIG. 3 is provisionally bent to about 45 degrees as shown in FIG.

Next, the posture of the robot arm 4 and the robot hand 6 in the robot 3 is changed from the state shown in FIG. 1 to the state shown in FIG. 2, and the two panels 12 and 13 with the adhesive 15 containing glass beads 14 interposed therebetween. The posture of the robot 3 is controlled so as to press the processing portion from above in a substantially right angle direction.

With the pressing angle maintained, the roller 9 is pressed by the pressing cylinder 7 while changing the roller pressing force in the roller moving direction (while slightly vibrating the roller in the vertical direction) to form the bent portion R. When rolled and moved along the peripheral shape, the bent portion R shown in FIG. 4 is completely bent as shown in FIG.

In the main bending process from FIG. 4 to FIG. 5, the roller pressing force by the above-mentioned pressing cylinder 7 is changed to be strong or weak.
4 is reliably prevented, and a slight bite of the glass beads 14 into both panels 12, 13 is obtained.
When the roller pressing force is strong, both panels 1 of glass beads 14
Since sufficient and complete penetration into the panels 12 and 13 can be obtained, the glass beads 14 described above can be used for both panels 12 and 13.
Can be ensured, and the displacement of the panels 12 and 13 during transportation can be completely prevented.

Next, in a fourth step S4 shown in FIG. 6, degreasing and surface treatment are performed on both panels 12 and 13 after the completion of the hemming process. Next, in a fifth step S5 shown in FIG. 6, electrodeposition coating is performed on both panels 12, 13 after the completion of the degreasing and surface treatment.

Next, in a sixth step S6 shown in FIG. 6, the two panels 12, 13 after the completion of the electrodeposition coating are subjected to electrodeposition drying. This drying process is performed for about 18 hours using a coating drying oven, for example.
Since the drying is performed for about 30 minutes at a temperature of 0 ° C., the above-described adhesive 15 is cured in this drying step, and the hemming portion H is completely restrained by the curing treatment of the adhesive 15.

Next, in a seventh step S7 shown in FIG. 6, intermediate coating is performed on both panels 12, 13 after the electrodeposition and drying is completed.
Both panels 12, 13 after intermediate coating in the next eighth step S8
Is subjected to intermediate coating drying using a drying furnace, and
In step S9, the top coat is applied to both panels 12, 13 after the completion of the intermediate coating, and in the next tenth step S10, the top panels are dried for both panels 12, 13 using the drying furnace. Is executed.

As described above, according to the roller type hemming method, the adhesive 15 containing the anti-slip solid material (see the glass beads 14) is interposed between the hemmed members (see the panels 12 and 13). Let's make this glass beads 1
4 is a method of hemming the glass material (see panels 12 and 13) so that the glass beads 14 are prevented from escaping by the rollers 9 by suppressing slippage (positional displacement) of the glass material (see panels 12 and 13). (See panels 12 and 13)
Can be reliably obtained, and as a result, there is an effect that after-hem welding can be eliminated and spotlessness can be achieved.

According to the roller-type hemming method of the second aspect, since the pressing force of the roller 9 is changed in the moving direction (progressing direction) of the roller 9, the glass beads 14 are formed by the strength of the pressing force of the roller 9. Thus, there is an effect that a reliable clinching force of the hemmed member (see the panels 12 and 13) by the glass beads 14 can be secured while reliably preventing the escape of the glass beads.

Further, according to the roller-type hemming method of the third aspect, since the pressing cylinder 7 that changes the pressing force of the roller 9 in the roller moving direction (roller advancing direction) is used, the pressing cylinder 7 This makes it easy to adjust the pressing force (pressing force) by the above method, and has an effect that an appropriate pressure can be easily obtained.

Further, according to the roller-type hemming method of the fifth aspect, the above-mentioned adhesive 15 is hardened in the coating and drying step (see the fifth step S5 in FIG. 6) using, for example, a coating and drying furnace. There is an effect that the hemming portion (the portion completely bent) H can be completely restrained by the curing treatment of the adhesive 15.

According to the roller type hemming method of the sixth aspect, there is an effect that the hemming process can be reliably performed on a vehicle lid such as a door, a hood, a trunk lid and the like.

Further, according to the roller type hemming device, the pressing cylinder 7 changes the pressing force of the hemming roller 9 (hem roller) in the moving direction, so that the pressing force is adjusted. And the appropriate pressure can be easily obtained.

In addition, the member to be hemmed (panels 12, 1)
3) Since the device is used for hemming with the roller 9 with the adhesive 15 containing the glass beads 14 interposed therebetween, the clinching force of the hemmed member by the glass beads 14 is reliably obtained, and after-hem welding is abolished. As a result, spotlessness can be achieved.

(Second Embodiment) FIGS. 7 to 12 show a second embodiment of the roller type hemming method and its apparatus. The roller type hemming device 1 uses substantially the same device as the device of the first embodiment already described with reference to FIGS. 1 and 2, but in this second embodiment, the pressing force of the roller 9 is changed in the moving direction. The pressure cylinder 7 is used in a state where the pressing force intensity control is not performed.

Further, in the second embodiment, a concave portion 9a for preventing solid material from escaping is provided on the outer peripheral surface of the roller 9. As shown in FIG. 8, the concave portion 9a may be a total of four concave grooves formed at regular intervals of 90 degrees on the outer peripheral surface of the roller 9 so as to be parallel to the axial direction thereof. There may be a total of six concave grooves formed at equal intervals.
It may be a total of eight grooves formed at equal intervals of degrees, or a plurality of grooves formed at any other open angle.

Further, as shown in FIG. 9, the above-mentioned concave portion 9a is a dimple (dimple, concave) formed on the entire outer peripheral surface of the roller 9.
The depression may have a substantially hemispherical shape, and the region where the depression is formed is not limited to the entire outer peripheral surface of the roller 9 but may be partially formed as shown in FIG.

Further, as shown in FIG. 10, the above-mentioned concave portion 9a may be formed by forming the entire roller 9 into a gear shape and formed by a valley portion of the gear, or may leave a peripheral surface on which a gear is not formed in a part. Thus, the trough of the gear may be partially formed. Here, the depth of the above-mentioned concave portion 9a is
It is desirable that the diameter is set to less than 200 to 300 μm ^φ .

A method of performing hemming (a method corresponding to claims 1, 2, 4, 5, and 6) using the roller-type hemming apparatus (apparatus corresponding to claim 18) configured as described above will be described below. I do. However, the processes other than the third process S3 in the process diagram of FIG. 6 are the same as those in the first embodiment.

In the third step S3 shown in FIG. 6, the roller-type hemming is performed. The roller-type hemming includes a temporary bending step shown in FIG. 7 and a main bending step shown in FIGS. ing. First, the roller 9 (however, a roller without the concave portion 9a can be used as the roller 9 in this case) can be adjusted so that the pressing angle inclined about 45 degrees with respect to the bent portion R of the outer panel 12 is maintained. When the roller 9 is rolled along the peripheral shape of the bent portion R while maintaining the pressing angle, the unbent portion 12b (see FIG. 3) is shown in FIG. It is provisionally bent to about 45 degrees.

Next, the postures of the robot arm 4 and the robot hand 6 in the robot 3 are changed from the state shown in FIG. 7 to the state shown in FIG.
The posture of the robot 3 is controlled so as to press the processing portions of the panels 12 and 13 with the interposed part in a substantially right angle direction from above. When the roller 9 having the concave portion 9a is rolled and moved along the peripheral shape of the bent portion R while maintaining the pressing angle, the bent portion R shown in FIG. The hemming portion H is completely bent.

In the final bending process in which the roller 9 advances to the right in FIG. 12 and moves from the state on the right side in FIG. 12 to the state on the left side in FIG. Since the pressing force of the roller 9 changes in the moving direction, the escape of the glass beads 14 is reliably prevented when the roller pressing force is weak (when the recess 9a is opposed), and both the panels 12 and 13 of the glass beads 14 are prevented. , And when the roller pressing force is strong (when facing the non-recess), complete penetration of the glass beads 14 into both the panels 12 and 13 is obtained. Can be ensured, and the displacement of the panels 12 and 13 during transportation can be completely prevented.

The panels 12 and 13 on which hemming processing has been completed in this manner are subjected to the fourth and fifth steps S in FIG.
The process proceeds to the sixth step S6 via the steps S4 and S5. Since the drying process is performed in the sixth step S6, the adhesive 15 is dried and hardened, and the hemming portion H is completely restrained.

According to the roller-type hemming method according to the fourth aspect, the concave portion 9a is provided on the outer periphery of the roller 9, and the pressing force is reduced by the concave portion 9a of the roller 9, and the pressing force is increased by the non-recessed portion. Therefore, while having a simple structure and easy control, there is an effect that a secure clinch force can be secured by the strength of the above-mentioned pressing force.

According to the roller type hemming method of the eighteenth aspect, since the concave portion 9a for preventing solid material from escaping is formed on the outer periphery of the roller 9, the pressing force is reduced by the rotation and rolling pressure of the roller 9. The strength can be controlled. For this reason, there is an effect that a reliable clinch force can be obtained even though the configuration is simple and easy to control simply by forming the concave portion 9 a on the outer periphery of the roller 9.

In addition, the hemmed member (both panels 12, 1)
3) Since the device is used for hemming with the roller 9 with the adhesive 15 containing the glass beads 14 interposed therebetween, the clinching force of the hemmed member by the glass beads 14 is reliably obtained, and after-hem welding is abolished. Thus, it is natural that spotlessness can be achieved. In addition,
In other respects, the operation and effects are almost the same as those of the first embodiment. Therefore, in FIGS. 7 to 12, the same parts as those in the previous drawings are denoted by the same reference numerals, and detailed description thereof will be omitted.

(Third Embodiment) FIGS. 13 and 14 show a third embodiment of a roller type hemming method and apparatus.

The roller type hemming device 1 is shown in FIG.
The same apparatus as that of the first embodiment described above with reference to FIG. 2 is used. However, in the third embodiment, the main bending is performed by a pre-main bending (preliminary bending) shown in FIG.
And the main bending shown in FIG. 14, the following two processes are executed by the single robot 3 described above.

That is, by the same robot 3 described above,
The glass beads 14 as a solid material are slightly
The pre-bending process (pre-bending process) is performed by the roller 9 so as to penetrate the panels 2 and 13, and the main bending process is performed by the roller 9 so that the glass beads 14 sufficiently penetrate the panels 12 and 13. A method for performing hemming processing using a roller-type hemming apparatus configured as described above (an apparatus corresponding to claim 19) (claims 1, 7.8.9, 1).
0) will be described below.

However, the third step S in the process chart of FIG.
Steps other than 3 are the same as in the first embodiment.

In the third step S3 shown in FIG. 6, roller type hemming is performed. This roller type hemming includes a temporary bending step shown in FIG. 7, a preliminary bending step shown in FIG. 13, and a step shown in FIG. And a main bending step. First, the roller 9 (however, a roller having no concave portion 9 a is used as the roller 9 in this case) is connected to the bent portion R of the outer panel 12.
The posture of the robot 3 is controlled (see FIG. 1) so that a pressing angle inclined at about 45 degrees with respect to the roller 9 is maintained, and the roller 9 is moved along the peripheral shape of the bent portion R while maintaining the pressing angle. Upon rolling, the unbent portion 12b (see FIG. 3) is temporarily bent to about 45 degrees as shown in FIG.

Next, the posture of the robot arm 4 and the robot hand 6 in the robot 3 is changed from the state shown in FIG. 1 to the state shown in FIG.
The posture of the robot 3 is controlled so as to press the processed portions of the panels 12 and 13 having the interposed portions in a direction close to a right angle from above.

While maintaining the pressing angle shown in FIG. 13, the roller 9 is moved about 5 mm along the peripheral shape of the bent portion R.
When the roller is moved with a pressing force of 0 kgf, the glass beads 1
4 slightly penetrates into both panels 12 and 13, so that escape is reliably prevented (preliminary bending step).

Next, the posture of the roller 9 is changed from the state shown in FIG. 13 to the state shown in FIG. 14 by changing the postures of the robot arm 4 and the robot hand 6 in the robot 3, and the processed portions of the panels 12, 13 are substantially changed from above. The posture of the robot 3 is controlled so as to be pressed in a right angle direction (see FIG. 2).

The roller 9 is moved along the peripheral shape of the bent portion R by about 150 to 20 while maintaining this pressing angle.
When the roller is rolled with a pressing force of 0 kgf, the bent portion R shown in FIG. 13 is completely bent to form a hemming portion H as shown in FIG.
Fully penetrates both panels 12 and 13 (final bending step). That is, the above-mentioned roller 9 makes a total of three turns along the peripheral shape of the workpiece by the preliminary bending step and the preliminary bending step, and the main bending step.

The panels 12 and 13 which have been subjected to the hemming process in this manner are subjected to the fourth and fifth steps S in FIG.
The process proceeds to the sixth step S6 via the steps S4 and S5. Since the drying process is performed in the sixth step S6, the adhesive 15 is dried and hardened, and the hemming portion H is completely restrained.

According to the roller type hemming method according to the seventh aspect of the present invention, the glass beads 14 are preliminarily bent by the roller 9 so as to slightly bite into the hemmed member (see both panels 12 and 13). The main bend is performed by the roller 9 so that the glass beads 14 can sufficiently penetrate into the hemmed member (refer to both panels 12 and 13). There is an effect that the glass beads 14 are sufficiently digged into the hemmed member (see both panels 12 and 13) to obtain a reliable clinch force.

According to the roller-type hemming method of the present invention, the pre-bending process and the main bending process are performed by the same robot 3 (one robot).
Two-stage processing with the same equipment (see FIGS. 13 and 14)
There is an effect that can be performed.

Further, according to the roller-type hemming method of the ninth aspect, there is an effect that a two-stage hemming process can be reliably performed on a vehicle lid such as a door, a hood and a trunk lid. Claim 10
According to the roller-type hemming method described above, the adhesive 15 is coated and dried after the hemming process (the sixth step S6 in FIG. 6).
), The curing process of the adhesive 15 has an effect that the hemming portion H can be completely restrained.

On the other hand, according to the roller type hemming apparatus of the nineteenth aspect, the same robot 3 performs the two-stage processing of the preliminary bending and the main bending, so that the same equipment
There is an effect that such two-stage bending can be performed by the device. In addition, hemming members (both panels 12, 13)
See also) adhesive 15 containing intervening glass beads 14
Is a device that performs hemming with the roller 9 with the interposition of the above, so that the clinching force of the hemmed member by the glass beads 14 can be reliably obtained, and after-heme welding can be eliminated to achieve spotlessness. Needless to say.

(Fourth Embodiment) FIGS. 15, 16 and 17 show a roller type hemming method and a fourth embodiment of the apparatus. As the roller type hemming device 1, the same device as the device of the first embodiment described above with reference to FIGS. 1 and 2 is used. However, in the fourth embodiment, a rolling roll 17 as a laser dull roll is formed in advance by a laser dulling machine 16 shown in FIG. 15, and a laser mirror steel sheet rolled using the rolling roll 17 is used to form the inner panel 1.
Used as 3.

The laser dulling device 16 described above reflects the laser beam from the laser oscillator 18 on the mirror 19,
After the reflected light is condensed by the condensing lens 20, the light is irradiated to the rolling roll 17 via the chopper blade 21, and the outer peripheral surface of the rolling roll 17 supported by the lathe 22 is laser-processed on the rolled shape surface 17 a. .

Here, the above-mentioned elements 18 to 21 are unitized into a single unit 23. When the unit 23 is sequentially moved in the direction of the arrow while rotating the rolling roll 17 and the chopper blade 21 in the direction of the arrow, The above-described rolled shape surface 17a can be formed on the entire peripheral surface of the roll 17.

Since the above-described rolled surface 17a is transferred to the inner panel 13 rolled by using the rolling roll 17, as shown in FIG. 16, an uneven portion 24 is formed on one entire surface to form a rough surface. Has been The surface on which the uneven portions 24 are formed is used so as to face the inner surface of the outer panel 12. Here, the depth of the above-mentioned uneven portion 24 is a depth at which escape of the glass beads 14 can be suppressed, for example, the depth of the glass beads 1.
Preferably, the diameter of No. 4 is about 1/4 to 1/3.

The inner panel 1 having the irregularities 24 described above
Roller type hemming method using the third method (claims 11 and 1).
2, 13, 14, 15) will be described below. Roller hemming is performed in the third step S3 shown in FIG. 6, and this roller hemming includes a temporary bending step (see FIG. 4) and a main bending step shown in FIG.

First, the roller 9 (however, in this case, the roller 9
The robot 3 is controlled in attitude (see FIG. 1) so that a pressing angle inclined about 45 degrees with respect to the bent portion R of the outer panel 12 is maintained with respect to the bent portion R of the outer panel 12. When the roller 9 is rolled along the peripheral shape of the bent portion R while holding the unbent portion 12b
(See FIG. 3) is provisionally bent to about 45 degrees as shown in FIG.

Next, the postures of the robot arm 4 and the robot hand 6 in the robot 3 are changed from the state shown in FIG. 1 to the state shown in FIG. 2, and the two panels 12 and 13 with the adhesive 15 containing the glass beads 14 interposed therebetween. The posture of the robot 3 is controlled so as to press the processing portion from above in a substantially right angle direction. When the roller 9 is rolled and moved along the peripheral shape of the bent portion R while maintaining the pressing angle, the bent portion R shown in FIG. To form a hemming portion H.

Moreover, the inner panel joining surface (in this embodiment, the surface of the inner panel 13 facing the outer panel 12) has an uneven portion 24 integrally formed on the front surface thereof. Is reliably prevented, and under this condition, the pressing force from the roller 9 is urged, so that the two panels 12, 13 can be completely bitten. Reliable clinching force can be ensured, and displacement of the panels 12 and 13 at the time of transportation or the like can be completely prevented.

The panels 12 and 13 which have been subjected to the hemming process in this manner are subjected to the fourth and fifth steps S in FIG.
The process proceeds to the sixth step S6 via the steps S4 and S5. Since the drying process is performed in the sixth step S6, the adhesive 15 is dried and hardened, and the hemming portion H is completely restrained.

Thus, according to the roller-type hemming method of the eleventh aspect, the uneven portion 24
Using the inner panel 13 on which the
The adhesive 15 is then interposed between the glass beads 14 and the roller 9 is pressed to perform hemming, so that the glass beads 14 can be reliably escaped by the above-mentioned uneven portion 24 while eliminating the need for a special roller structure or special roller control. And it is possible to secure a good clinch force.

According to the roller type hemming method of the twelfth aspect, the uneven portion 24 is formed on the inner panel joining surface (at least one of the inner panel contacting the outer panel and the outer panel contacting the inner panel). The glass beads 14
This has the effect of reliably preventing the escape of the like.

Further, according to the roller type hemming method of the present invention, since the above-mentioned uneven portion 24 is formed by a laser dull roll (see the rolling roll 17), the uneven portion 24 can be effectively used by using the existing device sum. In addition, there is an effect that it can be easily formed under a flat plate state.

In addition, according to the roller type hemming method according to the fourteenth aspect, there is an effect that a reliable hemming process can be performed on a vehicle lid such as a door, a hood, a trunk lid and the like. According to the roller type hemming method, the adhesive 15 is cured in the coating and drying step (see the sixth step S6 in FIG. 6) after the hemming process. There is an effect that the portion H can be completely restrained.

(Fifth Embodiment) FIGS. 18, 19 and 20 show a fifth embodiment of a roller-type hemming method and apparatus. As the roller type hemming device 1, the same device as the device of the first embodiment described above with reference to FIGS. 1 and 2 is used. However, in the fifth embodiment, at the same time as the inner panel 13 is pressed by the press machine 25 shown in FIG.

The above-mentioned press machine 25 has an upper die 27 and a lower die 28, and a predetermined portion of the lower die 28 is integrally formed with a knurled uneven surface 29. In addition, the uneven surface 29 is configured to have hardness by a surface hardening process such as partial quenching.

As shown in FIG. 19, the inner panel 13 pressed by using the press processing machine 25 has an uneven portion 26 on the above-described uneven shape surface 28 at a necessary portion (an inner panel joining surface) on one surface thereof. Formed simultaneously. In addition,
The portion outside the dotted line 30 in FIG. 18 is trimmed and removed after pressing. Here, the above-mentioned uneven portion 26
Is desirably a depth at which escape of the glass beads 14 can be suppressed, for example, about １ ／ to ３ of the diameter of the glass beads 14.

The inner panel 13 having the uneven portion 26
Hereinafter, a roller type hemming method (a method corresponding to claim 16) using the method will be described. However, steps other than the third step S3 in the process chart of FIG.
This is the same as the embodiment.

In the third step S3 shown in FIG. 6, the roller-type hemming is performed. The roller-type hemming includes a temporary bending step (see FIG. 4) shown in FIG. 7 and a main bending step shown in FIG. It has. First, the robot 3 is oriented so that the roller 9 (in this case, a roller having no concave portion 9a is used) is held at a pressing angle of about 45 degrees with respect to the bent portion R of the outer panel 12. When the roller 9 is rolled along the peripheral shape of the bent portion R while controlling (see FIG. 1) and maintaining this pressing angle,
The unbent portion 12b (see FIG. 3) is provisionally bent to about 45 degrees as shown in FIG.

Next, the postures of the robot arm 4 and the robot hand 6 in the robot 3 are changed from the state shown in FIG. 1 to the state shown in FIG. 2, and the two panels 12 and 13 with the adhesive 15 containing the glass beads 14 interposed therebetween. The posture of the robot 3 is controlled so as to press the processing portion from above in a substantially right angle direction. When the roller 9 is rolled and moved along the peripheral shape of the bent portion R while maintaining the pressing angle, the bent portion R shown in FIG. To form a hemming portion H.

Further, since the above-mentioned uneven portions 26 are formed simultaneously on the inner panel 13 at the time of press working, the unevenness 26 surely prevents the glass beads 14 from escaping during the main bending process. Then, under this state, the pressing force (pressing force) from the roller 9 is urged, so that complete penetration into both panels 12, 13 is obtained.
As a result, it is possible to secure the reliable clinching force of the panel 13 and completely prevent the displacement of the panels 12 and 13 at the time of transportation or the like.

The panels 12 and 13 that have been subjected to the hemming process in this manner are subjected to the fourth and fifth steps S in FIG.
The process proceeds to the sixth step S6 via the steps S4 and S5. Since the drying process is performed in the sixth step S6, the adhesive 15 is dried and hardened, and the hemming portion H is completely restrained. Thus, according to the roller-type hemming method according to claim 16,
The concavo-convex portion 26 can be formed at the necessary portion of the hemmed member (refer to the inner panel 13) at the same time as the pressing process, and there is an effect that a separate concavo-convex portion processing step is not required.

In the correspondence between the configuration of the present invention and the above-described embodiment, the anti-slip solid material of the present invention corresponds to the spherical glass beads 14 of the embodiment. Inner panel 13, Outer panel 1
2, the laser dull roll corresponds to the rolling roll 17, but the present invention is not limited to only the configuration of the above-described embodiment.

For example, the spherical glass beads 14 may be replaced by cubes, hexagonal prisms or other polyhedral glass beads, and a roller-type hemming method in which the above claims are arbitrarily combined may be used. Of course, in FIGS. 17 and 20, the rough surface is formed only on the inner panel 13 side, but it may be formed on the outer panel 12 side, and the joint surface of both panels 12, 13 is roughened. Is also good. Further, other means such as shot dull may be used as the above-mentioned surface roughening means. According to the roller-type hemming method and the apparatus thereof according to the present invention, a small amount of Ideal for hemming of varieties.

[Brief description of the drawings]

FIG. 1 is a system diagram showing a roller-type hemming method and apparatus of the present invention.

FIG. 2 is an explanatory diagram when a robot posture is changed.

FIG. 3 is an explanatory view showing a hemmed member setting step.

FIG. 4 is an explanatory view showing a temporary bending step.

FIG. 5 is an explanatory view showing a main bending step.

FIG. 6 is a process chart.

FIG. 7 is a side view showing another embodiment of the roller-type hemming device of the present invention.

FIG. 8 is a perspective view of a roller.

FIG. 9 is a perspective view showing another embodiment of the roller.

FIG. 10 is a perspective view showing still another embodiment of the roller.

FIG. 11 is an explanatory diagram when the robot posture is changed.

FIG. 12 is an explanatory diagram at the time of final bending by a roller having a concave portion.

FIG. 13 is an explanatory view at the time of preliminary bending.

FIG. 14 is an explanatory view at the time of main bending.

FIG. 15 is an explanatory view of a laser dull processing apparatus.

FIG. 16 is a cross-sectional view showing the shape of the uneven portion of the inner panel.

FIG. 17 is an explanatory view showing a main bending step.

FIG. 18 is a cross-sectional view showing the pressing and the simultaneous forming of the uneven portion.

FIG. 19 is a cross-sectional view showing the shape of the uneven portion of the inner panel.

FIG. 20 is an explanatory view showing a main bending step.

FIG. 21 is an explanatory view showing a conventional roller-type hemming method.

FIG. 22 is an explanatory view at the time of changing the roller attitude in the conventional method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 3 ... Robot 7 ... Pressure cylinder 9 ... Roller 9a ... Recess 12 ... Outer panel 13 ... Inner panel 14 ... Glass beads 15 ... Adhesive 17 ... Compression roll 24,26 ...

Claims (19)

[Claims] 1. A roller-type hemming method in which an adhesive containing a solid material for preventing slippage is interposed, and the solid material suppresses slippage of a plate material and hemming is performed by a roller so that the solid material does not escape. 2. The roller-type hemming method according to claim 1, wherein the pressing force of the roller is changed in a moving direction of the roller. 3. A roller-type hemming method according to claim 2, wherein a pressing cylinder for changing the pressing force of said roller in the roller moving direction is used. 4. The roller-type hemming method according to claim 2, wherein a concave portion is provided on an outer periphery of said roller. 5. The roller-type hemming method according to claim 2, wherein said adhesive is cured in a coating and drying step. 6. The roller-type hemming method according to claim 3, wherein a vehicle lid such as a door, a bonnet, and a trunk lid is hemmed with a roller. 7. A roller-type hemming method in which an adhesive containing a non-slip solid material is interposed between members to be hemmed and a hemming process is performed by a roller, wherein the solid material is slightly applied to the hemmed member by the roller. 2. The roller-type hemming method according to claim 1, wherein after the pre-bending process, the roller is fully bent by the roller so that the solid material sufficiently bites into the hemmed member. 8. The roller-type hemming method according to claim 7, wherein the preliminary bending and the main bending are performed by the same robot. 9. The roller-type hemming method according to claim 7, wherein a vehicle lid such as a door, a hood, a trunk lid and the like is hemmed with a roller. 10. The roller-type hemming method according to claim 7, wherein the adhesive is cured in a coating and drying step. 11. A roller-type hemming method in which an adhesive containing a solid material for preventing slippage is interposed between hemmed members, and a hemming process is performed by a roller. 2. The roller-type hemming method according to claim 1, wherein a hemming process is performed by pressing with a roller after an adhesive is interposed in the uneven portion. 12. The roller-type hemming method according to claim 11, wherein said uneven portion is formed on the inner panel joining surface. 13. The roller-type hemming method according to claim 11, wherein said uneven portion is formed by a laser dull roll. 14. The roller-type hemming method according to claim 11, wherein a vehicle lid such as a door, a bonnet or a trunk lid is hemmed with a roller. 15. The roller-type hemming method according to claim 11, wherein the adhesive is cured in a coating and drying step. 16. The roller-type hemming method according to claim 11, wherein the uneven portion is formed simultaneously with the pressing of the hemmed member. 17. A roller-type hemming device for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members, wherein a pressing force of the roller is changed in a roller moving direction. Roller hemming device with pressure cylinder. 18. A roller-type hemming apparatus for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members, wherein a concave portion for preventing solid material from escaping is provided on an outer periphery of the roller. Roller hemming device formed. 19. A roller-type hemming apparatus for performing hemming with a roller by interposing an adhesive containing a non-slip solid material between hemmed members, wherein the solid material slightly bites into the hemmed member. A roller-type hemming device equipped with a robot that performs a pre-bending process and performs a full-bending process with a roller so that the solid material sufficiently bites into the hemmed member.