JPWO2016152968A1 - Processing equipment - Google Patents

Abstract

Placed on the anvil (2) for placing the work (W), the presser hand (4) for holding the work (W), the transfer device (5) for carrying the presser hand (4), and the anvil (2) A restraining means (6) for pressing and restraining the workpiece (W) pressed against the anvil (2), and a processing means (11) for performing predetermined processing in a state where the workpiece (W) is restrained by the restraining means (6). The restraint means (6) connects the first connecting device (61a) and the second connecting device (61b) to connect the presser hand (4) and the anvil (2). And a presser pad (62) disposed on the presser hand frame (41) and restraining the work (W) against the anvil (2). With this configuration, the machining time is shortened, the replacement work of the anvil (2) is simplified, and the productivity is improved.

Description

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

The door panel of an automobile has various forms depending on the vehicle type, and includes an inner panel and an outer panel, and an outer edge portion is formed by hemming.
Conventionally, as a device for hemming an 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).

  Roller-type hemming processing equipment can produce a wide variety of vehicle types by operating a roller using a general-purpose robot to simplify equipment, reduce running costs, and build a flexible processing line. It can employ | adopt suitably for a line.

  In addition, the roller hemming machine can use a general-purpose robot, so it is easy to respond to the model change when reducing the capital investment. ing.

  The hemming processing device disclosed in Patent Document 1 includes a clamp device that clamps an outer edge portion of a workpiece in which an inner panel and an outer panel placed on an anvil are combined. And a hemming processing apparatus hemmes the outer edge part of a workpiece | work, pressing a roller against an anvil in the state clamped so that a workpiece | work might not slip | deviate with respect to an anvil with a clamp apparatus.

JP 2010-194568 A (see FIGS. 1 and 2)

  However, in the roller-type hemming processing apparatus described in Patent Document 1, the outer edge portion for processing the workpiece is clamped from the outside of the workpiece, so that it is disposed on the outer edge portion when hemming by moving the roller. Numerous clamping devices and rollers interfere. For this reason, there is a problem that machining must be performed while avoiding the interference of the rollers, and the control becomes complicated and the machining time increases.

  Moreover, since the door panel of a motor vehicle has various forms 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. For this reason, in the door panel production line, the anvil must be replaced every time the vehicle type is switched.

  In the hemming processing device described in Patent Document 1, the structure becomes complicated and the number of parts increases when the workpiece clamping device is included, and the base portion of the anvil supporting the clamping device increases, resulting in an increase in mass and an increase in size. In addition, there is a problem that the number of production steps becomes excessive.

  Also, in anvils that have increased in size and increased in mass, the load on the transfer device such as a robot that transports and replaces the anvil becomes excessive when the vehicle type is switched, resulting in an increase in the line configuration or increased transfer time, resulting in replacement work. There is a problem that a great amount of man-hours are required and productivity is lowered.

  The present invention has been made in view of such a background, and provides a machining apparatus that can shorten the machining time by the machining means, simplify the anvil replacement work, and improve productivity. Is an issue.

  In order to solve the above-mentioned problems, the invention according to claim 1 is directed to an anvil for placing a workpiece, a presser hand for holding the workpiece, and carrying the presser hand to carry the workpiece into and out of the anvil. A conveying device, a restraining means that presses the work supported by the anvil against the anvil, positions the work on the anvil and restrains the work, and performs a predetermined process in a state where the work is restrained by the restraining means. The restraining means includes a first connecting device disposed on the anvil and a second connecting member disposed on the presser hand frame and connected to the first connecting device. And a connecting device that connects the first connecting device and the second connecting device to restrain the presser hand and the anvil as a unit. , That and a presser pad disposed in the presser hand restrained by pressing the workpiece to the anvil, characterized by.

  In the processing apparatus according to the present invention, the presser hand includes a holding device that holds the workpiece, so that the presser hand can be conveyed by the conveying device in a state where the workpiece is held by the presser hand. For this reason, the workpiece | work hold | maintained at the presser hand by the conveying apparatus can be carried in in an anvil, or can be carried out from an anvil.

  In the processing apparatus according to the present invention, the presser hand is provided with a holding device for holding the workpiece on a presser hand frame serving as a base. Since the presser hand frame can be shared, the number of man-hours for designing and manufacturing can be reduced, for example, when the vehicle type is switched.

  The processing apparatus according to the present invention includes a connecting device that constrains the presser hand and the anvil as a unit, so that the presser hand can be positioned and connected to the anvil in a horizontal direction and a vertical direction. it can.

  The presser hand is provided with a presser pad that presses and restrains the work against the anvil, so that the presser hand is positioned with respect to the anvil in a state where 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 workpiece. Further, the work can be restrained by pressing the work against the anvil by the presser pad brought into contact with a predetermined position of the work.

In this manner, the processing apparatus according to the present invention can position and fix the workpiece to the anvil by the presser pad by constraining the presser hand and the anvil together.
For this reason, since the processing apparatus which concerns on this invention does not need to provide many clamp apparatuses, actuators, etc. which fix a workpiece | work from the outer side of an anvil, an anvil can be reduced in weight by simple structure.

  In addition, since it is not necessary to provide a large number of clamping devices from the outside of the anvil, at the time of machining by the machining means, for example, by approaching the machining means from the outside of the anvil, the interference with the clamping device is reduced and the machining time is reduced. Can be shortened.

Moreover, the processing apparatus which concerns on this invention was equipped with the connection apparatus which restrains the said presser hand and the said anvil integrally, and can convey an anvil via a presser hand by a conveying apparatus.
For this reason, for example, at the time of workpiece switching, the anvil and the presser hand can be transported together and replaced with a set of another anvil and a presser hand to change the setup.

  As described above, the processing apparatus according to the present invention can improve the productivity by shortening the processing time by the processing means and simplifying the anvil replacement operation. For this reason, it can be suitably applied to a production line for producing while switching a wide variety of workpieces, 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 includes a presser hand frame serving as a base, and a holding device that is disposed on the presser hand frame and holds the workpiece. It is provided with.

  In the processing apparatus according to the present invention, the presser hand is provided with a holding device for holding the workpiece on a presser hand frame serving as a base. Since the presser hand frame can be shared, the number of man-hours for designing and manufacturing can be reduced, for example, 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 protrudes outward from the work support part in a plan view than the work support part that supports the work. And an outer edge extension part integrally coupled to the workpiece support part, and the first connecting device is disposed on the outer edge extension part.

In the processing apparatus according to the present invention, since the first connecting device is disposed in the outer edge extending portion that protrudes outward from the work support portion and is coupled, the connecting device interferes with the processing means during processing by the processing means. Since this 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 for supporting the anvil, an anvil clamp for fixing 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 includes an anvil table that supports the anvil, and an anvil clamp that fixes the anvil to the anvil table, thereby reinforcing the rigidity of the anvil having the product shape of the workpiece with the anvil table. can do.
For this reason, the processing apparatus according to the present invention can reduce the weight of the anvil, reduce the size of the transfer device, simplify the equipment, reduce the number of anvil replacement work steps, and improve the productivity.

  The invention according to claim 5 is the processing apparatus according to claim 1, wherein the processing means is a roller hemming apparatus that moves and presses a roller against a hemming processing portion of the workpiece. Features.

  Since the processing apparatus according to the present invention can be suitably applied to a processing apparatus that produces while switching a wide variety of workpieces, it can be preferably applied to a roller hemming apparatus used for hemming processing such as a door panel of a vehicle body. .

  The invention according to claim 6 is the processing apparatus according to claim 5, wherein the workpiece is composed of an outer panel and an inner panel, and the presser pad is in the vicinity of the inside of the hemming portion, and the workpiece It is contact | abutted by the overlap part of the said outer panel and the said inner panel in the outer edge part of this.

In the processing apparatus according to the present invention, the presser pad is brought into contact with the vicinity of the inside of the hemming processing portion, thereby effectively avoiding interference between the presser pad and the roller at the time of processing by the roller, thereby strengthening the hemming processing portion. Can be held in.
Further, the outer panel and the inner panel can be held so as not to be displaced by bringing the presser pad into contact with the overlapping portion of the outer panel and the inner panel at the outer edge of the workpiece.

  The invention according to claim 7 is the processing apparatus according to claim 5, wherein the workpiece is a door panel of a vehicle body, the door panel includes 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 opposite to the presser hand, the roller is inserted from the opening, and the inner peripheral portion of the door panel sash portion is processed.

  The processing apparatus according to the present invention inserts the roller through the opening of the door panel sash portion to process the inner peripheral portion of the door panel sash portion, thereby causing interference with the presser pad in a state where the workpiece is pressed by the presser pad. It can be avoided.

  The invention according to claim 8 is the processing apparatus according to claim 5, wherein the work held by the presser hand by the transport device is transported to a position opposed to the anvil, and is moved to a predetermined position by the restraint device. After the restraint, the workpiece is hemmed by the processing means.

  The processing apparatus according to the present invention transports the workpiece held by the presser hand by the transport device to a position facing the anvil, constrains the workpiece to a predetermined position by the restraint device, and then hemmes the workpiece by the processing means. By processing, it is possible to improve the productivity by suitably applying to a production line that produces while switching a wide variety of workpieces.

  The invention according to claim 9 is the processing apparatus according to claim 1, wherein the connecting device is an automatic tool changer that detachably connects the first connecting device and the second connecting device. It is characterized by.

  The processing device according to the present invention can be configured in various forms as a connecting device and can be used to simplify the configuration and ensure appropriate restraint force by using a versatile automatic tool changer.

  The invention according to claim 10 is the processing apparatus according to claim 4, wherein the anvil and the presser hand are integrated with each other by the restraint device when the workpiece is switched to another workpiece. The anvil and the other presser hand adapted to the other workpiece are exchanged by the transport device.

  In the processing apparatus according to the present invention, the anvil and the presser hand are integrated with each other by the restraining device, and the anvil and the presser hand are exchanged together, thereby reducing the switching man-hour and improving the productivity. it can.

  The invention which concerns on Claim 11 presses the said workpiece | work mounted in the anvil which mounts a workpiece | work, the said workpiece | work, and the said anvil against the said anvil, and positions the said workpiece | work in the said anvil. A restraining means for restraining the workpiece, a processing means for carrying out a predetermined processing in a state where the workpiece is restrained by the restraining means, a workpiece standby area for waiting in a state where the workpiece is restrained by the restraining means, A processing apparatus having a work processing area for processing, wherein the restraining means is connected to the first connecting device disposed in the anvil and the first connecting device disposed in the presser hand frame. A connection that connects the second connecting device, the first connecting device, and the second connecting device to restrain the presser hand and the anvil together. A presser pad disposed on the presser hand and pressing and restraining the work against the anvil, an anvil table supporting the anvil, wheels provided on the anvil table, and the work A moving rail that is laid between the standby area and the workpiece machining area and guides the wheels to move the anvil table to the workpiece machining area, and is positioned in the workpiece machining area to support and position the anvil table. A positioning jig that moves the anvil table from the workpiece standby area to the workpiece machining area, and moves the anvil table onto the positioning jig while guiding the anvil table by the transport rail. Move and support the anvil table with the positioning jig. It is determined, characterized by.

  The processing apparatus according to the present invention supports the own weight of the anvil table by the transfer rail while the anvil table is moving by moving the anvil table onto the positioning jig while guiding the anvil table by the transfer rail. Therefore, the load on the moving means can be reduced by using a smaller robot, and the anvil table can be easily positioned because it is guided by the transport rail.

  The processing apparatus according to the present invention can improve the productivity by shortening the processing time by the processing means and simplifying the anvil replacement work. For this reason, it can be suitably applied to a production line for producing while switching a wide variety of workpieces, 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 presser hand which concern on the 1st Embodiment of this invention. It is a perspective view which shows the structure of the anvil in the roller hemming apparatus which concerns on embodiment of this 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 workpiece | work is carried in / out by an anvil. 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 carried-in anvil 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 a workpiece | work is hemmed 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 hemming is supported and supported in the state which inclined the workpiece | work with the conveying apparatus. It is a figure which shows a mode that hemming the inner peripheral part of the door panel sash part in the roller hemming apparatus which concerns on the 1st Embodiment of this invention, (a) is a top view of a door panel, (b) is A of (a). It is front sectional drawing in the -A line. FIG. 10 is an overall view of FIG. 9 showing a state in which 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 and replaced | exchanged with a conveying apparatus. It is a fragmentary sectional view showing operation of an ATC device in a roller hemming device concerning a 1st embodiment of the present invention, (a) is a state before connection, (b) is in a state during connection, and (c) is after connection. Shows the state. 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 workpiece | work exists in a workpiece | work standby area | region. 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 workpiece | work exists in a workpiece | work processing area | region.

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 that hemmes an outer peripheral edge portion (hemming processing portion W <b> 3) of a work W by rolling a roller 11 that is a processing means by a working robot 10.

  The work W is a door panel of the vehicle body (see FIG. 9A). The door panel includes an outer panel W1 and an inner panel W2, and includes a main body portion that accommodates the 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 shape of the anvil 2 (see FIG. 3) and the presser hand 4 (see FIG. 4) is determined in accordance with the shape of the door panel as 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, the opening of the door panel sash portion W4 as shown in FIG. 9B. A small-diameter roller 11a is inserted from the back side (lower side of the figure) of the part and hemmed.

<Door panel outer edge processing equipment>
An embodiment in the case of processing the outer peripheral edge portion of the workpiece W (hemming processing portion W3, see FIG. 9A) will be described.
As shown in FIG. 1, the hemming process includes a pre-bending step 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 the pre-bending outer panel W1. And a final bending step of further bending the inner panel W2 by pressing the outer edge portion against the inner panel W2.
In addition, although this bending process may be performed in two steps, it is not particularly limited in the embodiment of the present invention, and therefore detailed description of the procedure is omitted.

  The working robot 10 is a device that operates the roller 11 to perform predetermined processing. The work robot 10 is a multi-joint robot under program control, and a roller 11 is attached to the tip of the robot hand. The working robot 10 performs the hemming process while adjusting the movement trajectory and the inclination angle of the roller 11 by the preliminary bending process and the main bending process and by the hemming part W3 of the workpiece W.

  The roller hemming device 1 includes an anvil 2 on which a workpiece W is placed, an anvil table 3 that supports the anvil 2, a presser hand 4 that holds the workpiece W, and a presser hand 4 that conveys the workpiece W to the anvil 2. And a restraining means 6 for positioning and restraining the work W on the anvil 2, and the roller 11 is operated by the work robot 10 in a state where the work W is restrained by the restraining means 6. To hemming.

<Restraining means>
As shown in FIG. 2, the restraining means 6 includes a connecting device 61 that restrains the presser hand 4 and the anvil 2 together, and a presser pad 62 that is disposed on the presser hand 4 and presses the work W against the anvil 2 to restrain it. And.
The connecting device 61 includes a first connecting device 61a fixed to the anvil 2 (first outer edge extending portion 23 described later), 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, and the presser hand 4 and the anvil 2 are connected and restrained as a unit.

  The restraining means 6 is a device that presses and restrains the workpiece W placed on the anvil 2 against the anvil 2, and in a state where the presser hand 4 is positioned and coupled to the anvil 2 by the coupling device 61, the presser pad 62. Is brought into contact with the inner side of the outer edge portion (hemming portion W3) of the workpiece W to restrain the workpiece W on the anvil 2.

  The restraining means 6 causes the presser pad 62 to abut against the workpiece W in a state where the first coupling device 61a and the second coupling device 61b are coupled. It may be. A predetermined pressing force may be generated by bending the presser pad 62, and the workpiece W may be fixed to the anvil 2 using this pressing force.

  As the connecting device 61, an ATC device (automatic tool changer), that is, a so-called tool changer can be suitably employed. The ATC device is a detachable fixing device that is disposed at the tip of a robot or the like for detachably exchanging and fixing a processing device such as a tool or a circuit. A ball that presses and locks a ball against a wedge member Various types such as a fixed type and a fixed wedge type in which the wedge member is pressed against and locked to the wedge member can be employed.

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

Specifically, the tool side coupling device 61a includes a guide hole 61e disposed on the upper surface, and a wedge portion 61f formed in the engagement recess 61c. The main body side coupling device 61b includes a guide pin 61g to be inserted into the guide hole 61e, a ball 61h to be brought into and out of engagement with the engaging convex portion 61d, and a wedge 61f to be brought into and out of movement, and a ball 61h to be moved in and out. 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 engagement protrusion of the main body side coupling device 61b is positioned at a position (upward in the drawing) opposite to the engagement concave portion 61c of the tool side coupling device 61a by the transport device 5 (see FIG. 1). Position the part 61d. Then, as shown in FIG. 12B, the main body side connecting device 61b is moved downward in the drawing by the transport device 5 (see FIG. 1), and the guide pin 61g is inserted into the guide hole 61e, thereby connecting the tool side connecting device. The ball 61h of the device 61a is stopped in a state where it is lowered to a position where it comes into contact with the slope of the wedge portion 61f. In this stationary state, the ATC device 61 pushes the ball 61h outward by a ball driving mechanism (not shown) and presses it against the slope surface of the wedge portion 61f.
Thus, the ATC device 61 uses the connecting device 61 to connect the upper surface of the tool side connecting device 61a and the lower surface of the main body side connecting device 61b in close contact (see FIG. 12C). 4 and the anvil 2 can be connected and restrained (see FIG. 6).

  In this embodiment, as shown in FIG. 1, the 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, the horizontal two directions and the top and bottom 1 As long as the anvil 2 and the presser hand 4 can be fixed by positioning in three directions, a general known coupling device or clamping device may be employed.

  For example, although not shown, as another modification, the connecting device 6 includes a guide hole (for example, a knock hole) provided in the first connecting device 61 and a guide pin (for example, a knock pin) provided in the second connecting device 61b. ), And a connecting device that fixes the first connecting device 61a and the second connecting device 61b with a clamp device that uses an actuator such as an air cylinder and positions in the vertical direction. Good.

  As shown in FIG. 2, the presser pad 62 is a rod-shaped member having an L-shaped angle shape, and the front end portion is in the vicinity of the inner side of the hemming portion W <b> 3, and the outer panel W <b> 1 at the outer edge portion of the workpiece 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 inside of the hemming portion W3, interference between the roller 11 and the presser pad 62 can be avoided while firmly holding the hemming portion W3. For this reason, hemming can be performed by moving the roller 11 while holding the workpiece W by the presser pad 62.

As shown in FIG. 4, the presser pad 62 is properly disposed at a predetermined position at a predetermined interval on the outer edge portion of the work W along the inner vicinity of the hemming processing portion W3 so that the work W can be firmly held. Yes. The presser pad 62 is fixed to the presser hand 4 via the 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, a detailed description thereof is omitted.

<Anvil>
As shown in FIG. 2, the anvil 2 broadly means a placement member for placing the workpiece W and performing predetermined processing, and is an anvil in the case of hemming, and the roller 11 during hemming Rigidity is ensured so that deformation such as bending does not occur in consideration of the applied pressure.
As shown in FIG. 3, the anvil 2 includes a work support portion 21 that supports the work W (see FIG. 1), a reinforcing frame 22 that reinforces the work support portion 21, and a first piece that is integrally coupled to the work support portion 21. 1 includes an outer edge extending portion 23 and a support bolt 24 (see FIG. 3) for supporting the workpiece support portion 21.

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

The work support portion 21 is formed with an opening portion 21g that matches the opening portion of the door panel sash portion W4 (see FIG. 9A).
An outer gauge (not shown) for positioning the work W by contacting the outer edge portion of the work W is disposed in the vicinity of the work support portion 21, but the details are not particularly limited. Detailed explanation is omitted.

  The reinforcing frame 22 is a member for reducing the weight of the anvil 2 while ensuring the rigidity of the workpiece support portion 21, and is disposed in an appropriate location with an appropriate shape in consideration of the shape of the workpiece support 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 outward from the work support portion 21 in plan view. A predetermined number of first outer edge extending portions 23 are disposed at predetermined locations in consideration of the shape of the work support portion 21 so that the rollers 11 (see FIG. 1) do not interfere with the first connecting device 61a during hemming. In the present embodiment, two positions are provided at the left and right positions facing each other from the viewpoint of weight reduction and avoidance of interference, but may be set as appropriate and may be three or four or more.

As shown in FIG. 2, the support bolt 24 is arranged like a column 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 arrange | positions in a required location so that deformation, such as bending, may not arise.
As shown in FIG. 3B, the support bolt 24 includes a bolt 24 a having a screw portion, and a fixing member 24 b such as a nut that fixes the bolt 24 a to the work support portion 21. With this configuration, the support bolt 24 is screwed into the work support portion 21 to adjust the protruding length, and the bolt 24a is fixed to the work support portion 21 with the fixing member 24b. It adapts to the length between the support parts 21. By providing the support bolt 24, the work support portion 21 can be made lighter and the rigidity can be improved.

The roller hemming device 1 is configured such that the anvil 2 on which the hemming portion W3 having the product shape of the workpiece W is placed and the anvil table 3 that supports the anvil 2 are configured 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. Yes.

  The anvil mounting table 31 is a base member of the anvil 2, and has a function of reinforcing the anvil 2 and suppressing deformation and bending to improve rigidity. Further, by supporting the anvil 2 with the anvil mounting table 31, the anvil 2 can be reduced in weight, and the anvil mounting table 31 and the clamping device 32 can be commonly applied to various types of anvils. 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 device 32 is disposed around the anvil 2 at a predetermined number, that is, at two positions facing each other in the present embodiment. Since the structure of the clamp apparatus 32 is not specifically limited, detailed description is abbreviate | 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 this configuration, the positioning means 33 positions the anvil 2 and the anvil mounting table 31 in the horizontal direction (left-right direction and front-rear direction).

As shown in FIG. 2, the presser hand 4 includes a presser hand frame 41 that serves as a base, and a holding device 42 that is disposed on the presser hand frame 41 and holds the workpiece W.
As shown in FIG. 4, the presser hand frame 41 transports the workpiece W by the transport device 5 (see FIG. 1) while supporting the workpiece W by the holding device 42, or supports the presser pad 62 to support the presser pad 62. Is a structural member serving as a base for pressing the workpiece W against the workpiece W or connecting it 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 transporting by the transport device 5.
The ATC device 51 includes a first coupling device 51 a disposed on the upper side (upper surface) of the presser hand 4 and a second coupling device 51 b disposed at the tip of the transport device 5. Since the configuration of the ATC device 51 is the same as that of the ATC device 61, a detailed description thereof is omitted.

The presser hand frame 41 includes a workpiece support shape portion 41a that has the outer shape of the workpiece W, a reinforcement frame 41b that reinforces the workpiece support shape portion 41a, and projects outward from the workpiece support shape portion 41a to the workpiece support shape portion 41a. A second outer edge extending portion 41c coupled together.
The workpiece support shape portion 41 a is configured to face the workpiece support portion 21 of the anvil 2. A presser pad 62 is disposed on the lower side (lower surface) of the work support shape portion 41a.

The reinforcing frame 41b is a member for reducing the weight of the presser hand frame 41 while ensuring the rigidity of the work support shape portion 41a. The reinforcement frame 41b is appropriately formed in an appropriate position in consideration of the shape of the work support shape portion 41a. Although arranged, it is provided in a lattice shape inside the workpiece support shape portion 41a.
A holding device 42 is disposed 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 outward from the work supporting shape portion 41a in plan view. ing. The second outer edge extending portion 41c is disposed at a position suitable for the first coupling device 61a, and in the present embodiment, two positions are provided at the left and right positions facing each other from the viewpoint of weight reduction and avoidance of interference. It may be set as appropriate, and may be 3 places or 4 places or more.

  The holding device 42 is a device that holds the workpiece W composed of the outer panel W1 and the inner panel W2 together, and various holding means can be applied, for example, sucking and holding using negative pressure. Adopt a vacuum cup. Since the holding device 42 is not particularly limited, detailed description thereof is omitted.

The transfer device 5 is an articulated robot, and includes a second connecting 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 conveyance device 5 can convey the presser hand 4 and carry the workpiece W in and out of the anvil 2 (see FIGS. 5 and 6). As shown in FIG. 5, when loading and unloading the workpiece W, the connection of the connecting device 61 is released, and the presser hand 4 is transported in a state where the presser hand 4 and the anvil 2 are separated. FIG. 6 shows a state where the workpiece W is carried into the anvil 2 and a state before the workpiece W is carried out, and is a state where the first coupling device 61a and the second coupling device 61b in the coupling device 61 are coupled.

  Further, as shown in FIG. 11, the transport device 5 connects the presser hand 4 and the anvil in a state where the first connection device 61 a and the second connection device 61 b of the connection device 61 are connected and the presser hand 4 is connected to the anvil 2. 2 can be transported as a unit.

  With such a configuration, the roller hemming device 1 is configured so that, for example, when the workpiece W is switched to another workpiece, the anvil 2 and the presser hand 4 are integrated with each other by the connecting device 61, and the workpiece 5 is transferred to another workpiece by the conveying device 5. Since it can be exchanged for a suitable anvil and another presser hand, the man-hour for switching work can be reduced and the productivity can be improved.

<Processing device for inner peripheral edge of door panel sash>
Next, the 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.
As shown in FIG. 9, in the roller hemming device 1, when the inner peripheral portion W41 of the door panel sash portion W4 is processed, the work robot 10a is inserted into the door panel sash portion W4 from the opening 31a formed in the anvil mounting base 31. To enter the opening 31a.
Specifically, the work robot 10a inserts a small-diameter roller 11a through the opening 31a of the door panel sash portion W4 from the back side of the anvil mounting table 31 and performs hemming.
Even when the inner peripheral portion W41 of the door panel sash portion W4 is processed, the other configuration is the same as the case of processing the outer peripheral edge portion (hemming processing portion W3) of the workpiece W, and therefore, a duplicate description is omitted. .

In the hemming of the upper portion of the door panel in the inner peripheral portion W41 of the door panel sash portion W4 (the right side in FIG. 9B), the presser pad 62 presses the inside of the hemming portion W3 of the outer peripheral portion to restrain the workpiece W. In this state, the working robot 10a performs processing while rolling the roller 11a.
Therefore, interference between the roller 11 and the presser pad 62 can be avoided even when the outer peripheral edge portion (hemming processing portion W3) of the workpiece W is processed while the roller 11 is rolled by the work robot 10.

In the hemming of the lower portion of the door panel in the inner peripheral portion W41 of the door panel sash portion W4 (the left side in FIG. 9B), the outer panel W1 is hemmed to the belt reinforcement BR that is a reinforcing member.
Even in this case, the belt reinforcement BR and the outer panel W1 are smoothly hemmed by the working robot 10a while rolling the roller 11a with the belt reinforcement BR sandwiched inward by the work robot 10a in the same manner as the hemming of the door panel. 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. FIG. 7 to be referred to is a main part front view showing a state in which the workpiece is hemmed with a roller, and the left roller shows the main bending process and the right roller shows the preliminary bending process. FIG. 8 is a front view of an essential part showing a state in which the workpiece is supported and hemmed by the conveying device in an inclined state.

  As shown in FIG. 7, the roller hemming device 1 positions the presser hand 4 in the horizontal direction and the vertical direction with respect to the anvil 2 by constraining the presser hand 4 and the anvil 2 together by the connecting device 61. Link.

  When the presser hand 4 and the anvil 2 are connected together, the presser pad 62 presses and restrains the work W against the anvil 2 in a state where the work W is placed on the anvil 2 by the holding device 42.

Thus, the roller hemming device 1 can position and fix the workpiece W on the anvil 2 by the presser pad 62 by constraining the presser hand 4 and the anvil 2 together.
For this reason, the roller hemming device 1 does not have to be provided with a large number of clamping devices and actuators for fixing the workpiece W to the anvil 2 from the outside of the anvil 2. The replacement work can be simplified.

  In addition, since it is not necessary to provide a large number of clamping devices from the outside of the anvil 2, when the roller 11 is hemming processed, by approaching the roller from the outside of the anvil, interference with a large number of clamping devices is reduced. Processing time can be shortened.

  The roller hemming device 1 according to the embodiment of the present invention can improve the productivity by shortening the hemming time by the roller 11 and simplifying the replacement work of the anvil 2. For this reason, it can apply suitably to the production line which switches and manufactures the various workpiece | work W, and can simplify a line installation.

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 inclined to a predetermined angle.
In this way, by holding the workpiece W freely at a predetermined inclination angle, various operations can be performed flexibly corresponding to the workpiece W having various forms.
In addition, since it is not necessary to separately provide a tilting device such as a tilting table or a rotating table, it is possible to simplify the production line and reduce equipment investment and improve productivity.

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

  The roller hemming device 1A includes an anvil 2 on which the workpiece W is placed, a presser hand 4 that holds the workpiece W, and a restraining means 6 that presses and restrains the workpiece W against the anvil 2. The roller hemming apparatus 1A performs hemming by operating the roller 11 with the work robot 10 while the work W is restrained by the restraining means 6. This configuration is the same as that of the roller hemming device 1 according to the first embodiment described above.

The roller hemming device 1A is different from the roller hemming device 1 according to the first embodiment in the following configuration.
That is, the roller hemming device 1A includes a workpiece standby area S1 for waiting for a workpiece W, a workpiece machining area S2 for machining the workpiece W, a workpiece unloading area S3 for unloading the worked workpiece 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 the receiving table 81, and a positioning jig 8 And a work robot 10 that functions as a moving means for the anvil table 3A.

  The workpiece standby area S1 is an area in which the workpiece W is held in a state in which the workpiece W is restrained by the restraining means 6. Stopper means 9 for stopping the anvil table 3A at a predetermined reference position is disposed in the workpiece standby area S1. The stopper means 9 includes a stopper member 91 guided so as to be movable in the vertical direction, and a drive device 92 such as an air cylinder for moving the stopper member 91.

  With this configuration, the stopper means 9 causes the anvil table 3A to contact the stopper member 91 and stop at a predetermined reference position while moving the stopper member 91 downward while moving the stopper member 91 downward. In this state, the anvil table 3A can be moved to the workpiece machining area S2.

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

  The anvil table 3A is similar to the anvil table 3 according to the first embodiment in the configuration of the upper part from the anvil mounting table 31, but the support plate 36A fixed below the anvil mounting table 31 and the anvil mounting table 31 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 cradle 81 of the positioning jig 8, and is elongated along the moving direction on both the left and right sides with respect to the traveling direction of the anvil table 3A. It is arranged.
The positioning hole 37A is a reference hole for positioning by the positioning jig 8 in the workpiece machining area S2.

  With this configuration, when the anvil table 3A is moved to the workpiece machining area S2 by the work robot 10 while guiding the wheels 34A with the transport rail 35A, the support plate 36A rides on the cradle 81, and the anvil table 3A is positioned and cured. It is designed to be transferred onto the tool 8.

  In the work processing area S2, the conveyance rail 35A is not installed, and the anvil table 3A is not restricted by the conveyance rail. Further, since the entire apparatus is configured to be lightweight, the turntable 7 can have a simple turntable function for rotating the anvil table 3A at a relatively high speed. It is possible to greatly improve the working efficiency of the hemming process.

  In addition, the structure of the support plate 36A and the receiving table 81 of the positioning jig 8 is not particularly limited, and the lower surface of the anvil mounting table 31 may be supported by the receiving table 81 without providing the support plate 36A. Instead of the cradle 81, support means such as a cradle or a table in which a cylindrical roller supported by a line and a spherical ball supported by a point are arranged may be adopted.

A total of four wheels 34A, front wheels and rear wheels, are arranged on the left and right sides of the traveling direction of the anvil table 3A, respectively, and the wheels 34A are guided along the moving rail 35A and the moving rail 38A.
The moving rail 35A is laid from the workpiece standby area S1 to the workpiece machining area S2. In order to guide the wheels 34A disposed on the left and right sides of the anvil table 3A, the wheels are disposed in parallel on the left and right sides with respect to the traveling direction of the anvil table 3A. The moving rail 38A is laid from the workpiece machining area S2 to the workpiece carry-out area S3.

The positioning jig 8 is an apparatus that is disposed in the workpiece machining area S2, supports the anvil table 3A by the cradle 81, and positions the anvil table 3A at a predetermined machining reference position in the workpiece machining area S2 by the positioning means 82. is there.
As shown in FIG. 14, the cradle 81 supports the support plate 36 </ b> A disposed on the anvil table 3 </ b> A so that the wheels 34 </ b> A are smoothly separated from the moving rail 35 </ b> A in a state where the cradle 81 is moved onto the cradle 81. The positional relationship between 36A and the cradle 81 is set.

  The positioning means 82 includes a locating pin 82a that is positioned through a positioning hole 37A formed in the anvil table 3A, and a driving device 82b such as an air cylinder that moves the locating pin 82a in the vertical direction.

  With this configuration, the positioning means 82 raises the locating pin 82a after receiving the anvil table 3A on the cradle 81 in a state where the locating pin 82a is lowered by the driving device 82b, whereby the anvil table 3A is moved to the workpiece machining area S2. Is positioned at a predetermined processing reference position.

  When the anvil table 3A is moved from the workpiece machining area S2 to the workpiece carry-out area S3 by the work robot 10, the positioning means 82 lowers the locate pin 82a by the driving device 82b. The work robot 10 smoothly transfers the anvil table 3A from the cradle 81 to the moving rail 38A with the locate pin 82a lowered.

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

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

  Specifically, the working robot 10 is configured such that the roller arm 11 or a predetermined engaging member (not shown) disposed at the tip 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 workpiece standby area S1 to the workpiece machining area S2 and from the workpiece machining area S2 to the workpiece unloading area S3.

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

  For this reason, even if the anvil table 3A is not lifted and transported by the working robot 10 that is a moving means, it can be transported only by moving in the horizontal direction. Therefore, a separate transport crane or large transport robot can be used. Even if it does not use, the anvil table 3A can be conveyed using the working robot 10 for hemming.

  In this way, the roller hemming apparatus 1A can lay a hemming processing line using a small working robot for hemming processing without using a crane or a large transport robot. The efficiency can be improved, the hemming processing line can be simplified, the conveyance time can be shortened, and the productivity can be improved.

  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 implemented with appropriate modifications. In this embodiment, the processing device according to the present invention is applied to a roller hemming device for a door panel, which is a workpiece W. However, the present invention is not limited to this, and the workpiece W may be a bonnet or a back door instead of a door panel. The apparatus can be applied to various processing apparatuses such as a schiller coating apparatus, a welding apparatus, and a coating apparatus, not a roller hemming apparatus.

1 Roller hemming device (processing device)
2 anvil 3 anvil table 4 presser hand 5 transport device 6 restraint means 8 positioning jig 10, 10a work robot (moving means)
11, 11a Roller (processing means)
21 Work support portion 21g Opening portion 22 Reinforcement frame 23 First outer edge extension portion 24 Support bolt 31 Anvil mounting table 32 Clamp device 33 Positioning means 34A Wheel 35A, 38A Moving rail 36A Support plate 41 Presser hand frame 41a Work support shape portion 41b Reinforcement Frame 41c Second outer edge extending portion 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 body side coupling device (second coupling device)
62 Presser pad 63 ATC device (automatic tool changer)
63a First connecting device 63b Second connecting device S1 Work waiting area S2 Work processing area S3 Work unloading area W Work W1 Outer panel W2 Inner panel W3 Hemming part W4 Door panel sash part W31 Overlap part W41 Inner peripheral part of door panel sash part

Claims (11)

An anvil to place the workpiece,
A presser hand for holding the workpiece;
A transport device for transporting the presser hand to carry the workpiece into and out of the anvil;
A restraining means for pressing the work placed on the anvil against the anvil, positioning the work on the anvil, and restraining the work;
A processing device that performs predetermined processing in a state in which the work is constrained by the restraining means,
The restraining means is
A first coupling device disposed on the anvil; and a second coupling device disposed on the presser hand frame and coupled to the first coupling device, the first coupling device and the second coupling device. And a connecting device that constrains the presser hand and the anvil as a unit,
A presser pad disposed on the presser hand to press and restrain the workpiece against the anvil;
A processing device characterized by The presser hand includes a presser hand frame serving as a base, and a holding device that is disposed on the presser hand frame and holds the workpiece.
The processing apparatus according to claim 1, further comprising: The anvil includes a work support portion that supports the work;
An outer edge extending portion that projects outward from the workpiece support portion in plan view and is integrally coupled to the workpiece support portion,
Disposing the first connecting device in the outer edge extension portion;
The processing apparatus according to claim 1, wherein: 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 provided,
The processing apparatus according to claim 3. The processing means is a roller hemming device that moves and presses a roller against a hemming processing portion of the workpiece;
The processing apparatus according to claim 1. The work consists of an outer panel and an inner panel,
The presser pad is in the vicinity of the inner side of the hemming portion, and is in contact with an overlapping portion of the outer panel and the inner panel at an outer edge portion of the workpiece;
The processing apparatus according to claim 5. The workpiece is a door panel of a vehicle body,
The door panel has a door panel sash portion in which an opening is formed,
The roller hemming device is configured to process the inner peripheral portion of the door panel sash portion by causing the roller to approach from the back side of the anvil opposite to the presser hand and inserting the roller from the opening.
The processing apparatus according to claim 5.   The work held by the presser hand by the transport device is transported to a position facing the anvil, restrained at a predetermined position by the restraining device, and then the work is hemmed by the processing means. Item 6. The processing apparatus according to Item 5. The connecting device is an automatic tool changer for detachably connecting the first connecting device and the second connecting device;
The processing apparatus according to claim 1. At the time of workpiece switching to switch the workpiece to another workpiece, the anvil and the presser hand are integrated with the restraint device, and the anvil and the other presser hand adapted to the other workpiece are exchanged by the transport device. about,
The processing apparatus according to claim 4. An anvil to place the workpiece,
A presser hand for holding the workpiece;
A restraining means for pressing the work placed on the anvil against the anvil, positioning the work on the anvil, and restraining the work;
Processing means for performing predetermined processing in a state in which the workpiece is restrained by the restraining means;
A work waiting area for waiting in a state where the work is restrained by the restraining means;
A workpiece processing area for performing predetermined processing on the workpiece,
The restraining means includes a first coupling device disposed on the anvil, a second coupling device disposed on the presser hand frame and coupled to the first coupling device, and the first coupling device and the second coupling. A connecting device that connects the device and restrains the presser hand and the anvil as a unit, and a presser pad that is disposed on the presser hand and presses and restrains the work against the anvil.
An anvil table supporting the anvil;
Wheels provided on this anvil table;
A moving rail that is laid over the workpiece machining area from the workpiece standby area and guides the wheels to move the anvil table to the workpiece machining area;
A positioning jig that is disposed in the work processing region and supports and positions the anvil table;
Moving means for moving the anvil table from the workpiece standby area to the workpiece machining area,
Moving the anvil table onto the positioning jig while guiding the anvil table by the moving rail, and supporting and positioning the anvil table by the positioning jig;
A processing device characterized by

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