KR20100093970A - Hemming equipment for vehicle panel - Google Patents

Abstract

PURPOSE: A hemming apparatus for a vehicle panel is provided to reduce the time for hemming work by carrying out hemming of inner and outer panels at a time. CONSTITUTION: A hemming apparatus for a vehicle panel comprises a die, a plurality of panel control units, a multi-functional tool head(15), and a robot. The die sets a panel. The panel control units including a clamp and a cylinder are arranged along the edge of the die to hold the panel. The multi-functional tool head is equipped with two or more rollers. The robot alternately operates the rollers of the multi-functional tool head to carry out hemming.

Description

Hemming equipment for vehicle panel

The present invention relates to a vehicle panel hemming device, and more particularly, to a vehicle panel hemming device capable of efficiently performing a hemming operation on an inner panel and an outer panel using a robot arm having a multifunctional tool head.

In general, it takes a process of assembling 2 to 30,000 parts several times before a car manufacturer produces a car.

In particular, the car body is the first step in the automobile manufacturing process. After producing product panels through various kinds of press equipment, the body is moved to a car body factory to assemble each part of the product panel. Will be achieved.

In order to form the panel as described above, pressing is performed in various forms by pressing equipment in a predetermined form, and then cutting in press processes such as trimming, piercing, flanging, and hemming. Through the process of hole machining, bending, bending.

And, the end of the door, hood, trunk lid, wheel arch, fender, etc. of the vehicle is processed by the hemming process, in order to compensate for the lack of joint strength due to the hemming, to secure the welding surface to the local part and join by face welding work Secure the strength.

In addition, during the hemming operation, the edge of the inner panel is flanged and clinched into the inside, and then the hemming sealer is applied to the clinched gap to hemm the work while the inner panel is fitted. Through the process, it is heat cured to exhibit adhesive performance.

Up to now, the hemming method is to install the mold of the panel in a press-type dedicated machine, the outer panel and the inner panel are put into the mold, and then the press die is lowered to fold and combine the panel ends.

In the case of such a hemming method, since an expensive mold having a shape similar to that of forming a panel must be manufactured, initial capital investment is largely disadvantageous, and the size of the press body is considerable, which is disadvantageous in the layout configuration inside the factory.

In addition, in the case of a multi-vehicle mass production line to respond while changing the mold, productivity is reduced because a lot of time and effort according to the replacement of the mold.

In order to solve such problems, a roller hemming method using a robot has recently been mainly applied.

In this method, the hemming roller is mounted on the robot and hemming is performed while rolling the roller according to the behavior of the robot.The inner panel is placed inside the folded outer panel, the flange is bent by 45 °, and the hemming punch is performed. Hemming is carried out by pressing and pressing to plastically deform the inner panel and the outer panel to be completely fixed.

However, the roller hemming method using the existing robot has a limitation in the molding step that can be applied to one robot, and it requires excessive work time such as finishing the hemming work through a separate post process. However, there is a disadvantage that is not suitable for mass production.

In addition, there is a disadvantage that it is difficult to secure the hemming quality as desired because the linkage between the operations for each molding step is inferior.

Therefore, the present invention has been made in view of the above, by implementing a new type of roller hemming system using a multi-function tool head mounted on a multi-joint robot to perform step-by-step hemming work simultaneously or continuously, the inner panel and the outer Work time can be shortened, such as hemming work on the panel at once, and it is possible to cope with multiple cars and actively respond to mass production, thereby improving productivity, and also for inner and outer panels. It is an object of the present invention to provide a vehicle panel hemming device capable of ensuring excellent hemming quality since the hemming work is performed in one process.

In order to achieve the above object, the vehicle panel hemming device provided by the present invention applies a method of performing hemming processing on an inner panel and an outer panel by using a robot, and a mold die for setting a panel, and A multi-functional tool head having a plurality of panel regulators arranged along a circumference to hold the panel and in the form of a combination of clamps and cylinders, and two or more rollers on opposite sides of each other, the multi-function tool head It consists of a form including a robot for operation, and hemming is performed by using a robot having the multi-functional tool head, while the robot hemming the entire panel while alternating each roller of different functions in the multi-functional tool head It is characterized in that the processing can be performed simultaneously or continuously.

Here, two robots are provided, and two multifunctional tool heads are provided, so that each robot is equipped with one multifunctional tool head so that hemming can be performed in the form of sharing the hemming part of the entire panel. It is preferable.

In addition, the hemming device is provided with two robots and three multi-function tool head, each robot is equipped with one multi-function tool head to share the hemming processing area of the entire panel to perform a hemming process, at least one robot Hemming can also be done by replacing two multifunctional toolheads.

The hemming device provided by the present invention uses a multifunctional tool head having two rollers having different functions in one tool head to continuously process hemming at various angles in a batch process, thereby reducing the time required for the hemming operation. Productivity can be increased by establishing a line suitable for mass production, such as shortening.

In addition, since the hemming work for each step and part for one panel is performed simultaneously or continuously, an excellent hemming quality can be obtained.

In addition, it is possible to miniaturize by applying the multi-functional tool head, thereby minimizing the equipment investment cost, there is an advantage in layout design in the factory.

In addition, it is possible to cope with the multi-vehicle model, so that it is possible to cope with mass production with a minimum production preparation period when the new model is introduced, which also has the advantage of reducing the cost.

Hereinafter, preferred embodiments of the hemming apparatus of the present invention will be described in detail with reference to the accompanying drawings.

The hemming device basically uses a robot, especially an articulated robot, to hemm the inner panel and the outer panel such as the front door, the rear door, the deck led, and the like. In operation, the edge of the outer panel is folded into the inner panel to perform a hemming process for pressing against the die die side.

In particular, the tool head which performs the hemming process is a combination of two or more rollers capable of exerting different functions in a predetermined arrangement on one tool head so that the hemming of the entire panel can be collectively performed as one tool head. It can be performed in the end, hemming processing for each step can be made efficiently in one process without a separate post-processing.

That is, a process in which hemming of the door frame is performed by one or several robots simultaneously or continuously by using a robot arm provided with three types of multifunctional tool heads, for example, by simultaneously performing a roll hemming of the entire door frame. You can complete everything in

To this end, the hemming device of the present invention includes a mold die for setting a panel as a work object, a panel regulating device for fixing a panel set on the mold die, and two or more rollers having different functions. It has a plurality of multifunctional tool head having a form including a robot and the like that can move it.

1A to 1C show a first tool head which is a form of a multifunctional tool head in a hemming device according to an embodiment of the present invention.

The first tool head 15a of the multifunctional tool head 15 is mounted in a detachable structure on the robot arm 21 of the articulated robot, and the three rollers 14 having different functions on the front end thereof, that is, The first roller 14a, the second roller 14b, and the third roller 14c are provided.

For example, the first roller 14a and the second roller 14b are disposed opposite to each other at both sides of 90 ° with respect to the axial direction of the tool head, and the third roller 14c is disposed along the axis of the tool head. It is arranged side by side along the forefoot along the direction.

Each of the rollers arranged as described above performs the hemming process by pressing a panel positioned between the die and the die, and can alternately change the role of the hemming process for one section of the panel.

For example, when roll hemming is performed on one side end section of the deck lid, the second roller 14b of the first tool head 15a performs the first hemming process while reciprocating once. As the first roller 14a moves one time after the hemming process is performed, the hemming of the panel work period may be performed by performing the finishing hemming process.

In other words, one tool head mounted on the robot arm can use the two rollers with different functions alternately to complete the hemming process for the work area of the panel from start to finish. All roll hemming can be done in one process.

2A to 2C show a second tool head which is another form of the multi-function tool head in the hemming device according to an embodiment of the present invention, and FIGS. 3A to 3C show the multi-function tool in the hemming device according to an embodiment of the present invention. A third tool head is shown, which is another form of the head.

The second tool head 15b and the third tool head 15c are mounted to the robot arm 21 of the articulated robot similarly to the first tool head 15a, and are detachable from each other. Three rollers 14 and two rollers 14 are provided.

For example, in the case of the second tool head 15b, the fourth roller 14d and the fifth roller 14e, which are disposed opposite to each other at 90 ° with respect to the axial direction of the tool head, are provided. The sixth roller 14f is arranged side by side in front of the tool head along the axial direction, and in the case of the third tool head 15c, the cylindrical seventh roller 14g serves to press the panel. A conical eighth roller 14h serving to support the panel is provided.

In particular, the third tool head 15c at this time can perform roll hemming without a die, so that a frame portion supporting the window of the door, for example, when the door panel is set on the mold die, is not supported. It can be used for a purpose suitable for the part where hemming is performed while floating in the air.

Even in the case of the second tool head 15b, hemming may be performed by using rollers having different functions, and the hemming may be sequentially performed for one section of the panel while changing each roller alternately. do.

For example, when the roll hemming is performed for the lower end section of the deck lid, the fifth roller 14e of the second tool head 15b performs the first hemming while reciprocating once, and thus the first hemming is performed. The hemming for the panel work period can be performed by the method in which the fourth roller 14d is moved once to perform the finishing hemming process.

As described above, the hemming apparatus of the present invention performs a hemming process while one robot replaces several tool heads for a roll hemming operation of the entire panel, and several robots each have several tool heads to perform hemming processing. Method, two robots are equipped with one tool head to perform hemming processing, respectively, while one robot among them replaces the two tool heads and provides a method of hemming processing.

For example, when hemming a single deck panel, two robots 16 and two multifunctional toolheads 15, namely, a first toolhead 15a and a second toolhead 15b, are used. Is provided, and each robot is equipped with one multi-functional tool head can share the hemming processing area of the entire panel to perform a hemming process.

In addition, when hemming for one door panel, two robots 16 and three multifunctional toolheads 15, namely, the first toolhead 15a, the second toolhead 15b, and the third Tool head 15c is provided, and each robot is equipped with one multi-functional tool head so that hemming can be performed by sharing the hemming part of the entire panel, and one robot is equipped with two multi-functional tool heads ( 15), that is, hemming can be performed while replacing the first tool head 15a and the third tool head 15c.

4 and 5 are perspective views illustrating a panel regulator and a die of a hemming device according to an embodiment of the present invention. FIG. 4 shows a panel regulator and a die for hemming a door panel. Shows panel regulators and dies for hemming of deck panels.

As shown in FIGS. 4 and 5, a mold die 10 for setting the panel is disposed at the center of the base 17, and the clamp die 10 is clamped along the circumference of the mold die 10. A plurality of panel regulators 13 are arranged.

The mold die 10 is configured to stably support the panel by using a seating surface corresponding to the shape of the work object, and the panel regulating device 13 may have a function of clamping the edge of the panel. At least two of them may have a function of clamping an inner portion of the panel.

Here, the panel regulating device 13 is composed of a clamp 11 for pressing and holding the panel directly and a cylinder 12 for operating the clamp 11, the clamp 11 and the cylinder 12 is a base It is provided in the structure supported by the post 18 installed perpendicular to (17).

In particular, the clamp 11 has a structure in which the rear end is connected to the rod of the cylinder 12 and the middle of the length is supported on the post 18 by the pin 20 so as to be rotatably supported. It is possible to press and hold the panel with the clamping block 19 at its tip through an operation of flipping up or down about the pin support portion.

These panel regulators 13 are configured to maintain an open (unclamped) or closed (clamping) state selectively while being linked according to the hemming position of the robot 16.

For example, when the hemming section of the multifunction tool head 15 is determined among the entire sections of the panel, the panel regulating devices 13 belonging to the section at this time are switched to the open state in advance, and the panel regulating device 13 belonging to the remaining sections. ) Will remain closed.

Similarly, when the multi-function tool head 15 is moved to another section after hemming for one section, the panel regulators 15 in the section where the hemming is completed are switched to the closed state again, and the multi-functional tool head 15 is As it is positioned, the panel regulating devices 13 belonging to the section in which the hemming process is to be newly started are previously switched to the open state.

As such, the panel regulators 13 may be maintained in an open or closed state while being operated in conjunction with the position of the multifunctional tool head 15 that performs hemming while moving sections by the movement of the robot 16. .

Figure 6 is a schematic diagram showing the arrangement of the hemming device according to an embodiment of the present invention.

As shown in FIG. 6, a plurality of panel regulating devices 13 are disposed around the die die 10, and the robot 16 is disposed on one side of the mold die 10 and the panel regulating device 13 disposed as described above. Is placed.

The multifunction tool head 15 is mounted on the robot arm 21 of the robot 16. Accordingly, when the roll hemming operation is performed, the multifunction tool head 15 enters downward from the top to perform a hemming process on the panel. After the hemming process, the roll hemming operation can be performed without interference by using a behavior such as exiting upward again.

Therefore, looking at the state of use of the hemming device configured as described above are as follows.

Figure 7 is a schematic diagram showing an example of performing a hemming operation on the door panel using a hemming device according to an embodiment of the present invention.

As shown in Fig. 7, first, the robot arm of one robot is supported by the mold die 10 by mounting the third tool head 15c having the seventh roller 14g and the eighth roller 14h. Hemming is performed on the upper frame 100 of the door panel that is not present.

Next, the robot arm removes the third tool head 15a, and then replaces and mounts the first tool head 15a having the first roller 14a, the second roller 14b, and the third roller 14c. Hemming is performed on the upper end 110 of the door panel.

At this time, the hemming process consists of reciprocating progresses of the first and second hemmings, and both the first and second hemmings are performed by the second roller 14b.

Of course, the tool head replacement at this time may be made separately in a position where the robot is moved backward from the work area.

On the other hand, the robot arm of the other robot is equipped with a second tool head 15b having a fourth roller 14d, a fifth roller 14e, and a sixth roller 14f, so that both side ends 120 of the door panel are mounted. And hemming for the lower end 130 is performed.

In this case, the first hemming and the second hemming are performed by the fifth roller 14e, and the third hemming is performed by the fourth roller 14d.

Here, the hemming of the upper end of the door panel by the first tool head 15a and the hemming of the both ends and the lower end of the door panel by the second tool head 15b may be simultaneously performed by respective robots. In the case of hemming at both ends and the lower end of the door panel by the tool head 15b, the primary hemming, the secondary hemming and the tertiary hemming may be performed in order in one side end → lower end → the other side end, Alternatively, after completing the primary hemming, the secondary hemming, and the tertiary hemming of one side end, the other side end may be moved to perform hemming.

8 is a schematic diagram showing an example of performing a hemming operation on a deck panel using a hemming apparatus according to an embodiment of the present invention.

As shown in Fig. 8, first, the robot arm of one robot is equipped with a first tool head 15a having a first roller 14a, a second roller 14b, and a third roller 14c. Hemming of the upper end 210 of the panel is performed.

At this time, the hemming process is performed in the order of the first hemming, the second hemming and the third hemming, and the first hemming, the second hemming and the third hemming are all performed by the first roller 14a.

On the other hand, the robot arm of the other robot is equipped with a second tool head 15b having a fourth roller 14d, a fifth roller 14e, and a sixth roller 14f, and thus the lower end 230 of the deck panel. Perform hemming on.

In this case, the first hemming and the second hemming are performed by the fifth roller 14e, and the third hemming is performed by the fourth roller 14d.

The hemming of the side end portion 220 of the deck panel is performed by dividing the section by half between the first tool head 15a and the second tool head 15b.

For example, in the case of the first tool head 15a, the first hemming and the second hemming are performed using the second roller 14b, and the third hemming is performed using the first roller 14a.

In addition, in the case of the second tool head 15b, the first hemming and the second hemming are performed using the fifth roller 14e, and the third hemming is performed using the fourth roller 14d.

Here, the hemming of the upper part of the deck lid panel and the hemming of the lower part of the deck panel may be simultaneously performed by each robot, and the hemming of both side ends and the lower part of the deck lid panel may be sequentially performed by one robot.

According to the hemming apparatus of the present invention, roll hemming is possible using a multifunctional tool head having two or more rollers having basically different functions, and by performing roll hemming while changing the function of the roller on another tool head In addition, since the roll hemming of the entire panel can be completed in one process, the time required for the hemming operation can be greatly reduced, and excellent hemming quality can be secured.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent embodiments are possible therefrom.

Accordingly, the true scope of protection of the invention should be defined only by the appended claims.

1A, 1B and 1C are front, top and side views showing a first tool head of a hemming device according to an embodiment of the present invention;

2A, 2B and 2C are front, plan and side views showing a second tool head of a hemming device according to an embodiment of the present invention.

3A, 3B, and 3C are front, top, and side views illustrating a third tool head of a hemming device according to an embodiment of the present invention.

4 is a perspective view illustrating a panel restricting device and a die of a hemming device according to an embodiment of the present invention;

5 is a perspective view showing a panel restricting device and a die of a hemming device according to another embodiment of the present invention;

Figure 6 is a schematic diagram showing the arrangement of the hemming device according to an embodiment of the present invention

Figure 7 is a schematic diagram showing an example of performing a hemming operation for the door panel using a hemming device according to an embodiment of the present invention

8 is a schematic diagram showing an example of performing a hemming operation on a deck panel using a hemming device according to an embodiment of the present invention;

<Description of the symbols for the main parts of the drawings>

10: die die 11: clamp

12 cylinder 13: panel regulator

14 roller 14a first roller

14b: second roller 14c: third roller

14d: fourth roller 14e: fifth roller

14f: 6th roller 14g: 7th roller

14h: 8th roller 15: multifunction tool head

15a: first toolhead 15b: second toolhead

15c: 3rd tool head 16: robot

17: base 18: post

19: clamping block 20: pin

21: robot arm

Claims (6)

In the hemming device that performs a hemming process for the inner panel and the outer panel using a robot, The mold die 10 for setting the panel and a plurality of panel regulators 13 arranged along the circumference of the mold die 10 to hold the panel and have a combination of the clamp 11 and the cylinder 12. And a plurality of multifunctional toolheads 15 having two or more rollers 14 having different functions on opposite sides of each other, and a robot 16 for operating the multifunctional toolheads 15, Hemming is performed using a robot equipped with a multifunctional tool head, but the robot can perform hemming of the entire panel simultaneously or continuously while alternating each roller having different functions in the multifunctional tool head. Vehicle panel hemming device. The multifunctional tool head (15) according to claim 1, wherein the multifunctional tool head (15) includes a first tool head (15a) and a second tool head (15b) each having three rollers (14), and a set of rollers (14) capable of hemming without a die. And a third tool head (15c) having a) so that one robot can use each tool head in a replaceable manner. According to claim 1 or 2, the robot 16 is provided with two and the multi-functional tool head 15 is provided with two, each robot is equipped with one multi-functional tool head for the hemming process area of the entire panel Panel hemming device for a vehicle, characterized in that it is possible to share the hemming process. The robot 16 is provided with two and the multifunctional tool head 15 is provided with three, so that each robot is equipped with one multifunctional tool head to form a hemming part of the entire panel. Carrying out hemming by sharing, at least one robot is a panel hemming device for a vehicle, characterized in that the hemming can be performed while replacing two multi-functional tool head. The panel restrictor (13) has a post (18) mounted vertically to the base (17) and a clamping block (19) at the front end, while the rear end is connected to the cylinder rod and has a length in the middle of the pin (20). And a cylinder which is supported by the rotatable clamp 11 and vertically mounted on the post 18 and connected to the rear end of the clamp 11 through a cylinder rod to flip the clamp 11 up or down. Vehicle panel hemming device, characterized in that configured to include 12). 6. The panel hemming device for a vehicle according to claim 1 or 5, wherein the panel restricting devices (13) are connected in accordance with the hemming position of the robot (16) to selectively maintain the open or closed state.

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