JPH0270325A - Hemming machine - Google Patents
Hemming machineInfo
- Publication number
- JPH0270325A JPH0270325A JP22385188A JP22385188A JPH0270325A JP H0270325 A JPH0270325 A JP H0270325A JP 22385188 A JP22385188 A JP 22385188A JP 22385188 A JP22385188 A JP 22385188A JP H0270325 A JPH0270325 A JP H0270325A
- Authority
- JP
- Japan
- Prior art keywords
- forming
- head
- roller
- hemming
- mold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009957 hemming Methods 0.000 title claims description 37
- 238000005452 bending Methods 0.000 claims abstract description 63
- 238000000034 method Methods 0.000 abstract description 10
- 238000000465 moulding Methods 0.000 description 8
- 238000003825 pressing Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はヘミング成形装置に係り、詳しくは自動車のド
アなどを構成するインナパネルとアウタパネルの両端部
を一体化させるヘミング成形装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a hemming forming device, and more particularly to a hemming forming device that integrates both ends of an inner panel and an outer panel constituting an automobile door or the like.
従来のヘミング成形装置としては、例えば実開昭５９−
１２４６２２号公報に記載されているように成形型を具
備したものがある。すなわち、このような装置では、予
備曲げをおこなうプリヘミング刃および本曲げをおこな
うヘミング刃等のプレス成形型により、インナパネルの
端部に対してアウタパネル折曲端を内側に抱込み状に折
曲げ加工シていた。しかし、プレス成形型のみでヘミン
グ加工する場合は、ワークの種類が多くなると型費が高
くなり、また現場での型の取替えに少なからぬ手間を要
するなどの問題があった。As a conventional hemming forming device, for example,
There is one equipped with a mold as described in Japanese Patent No. 124622. In other words, in such a device, the bent end of the outer panel is folded inward against the end of the inner panel using a press molding tool such as a pre-hemming blade that performs preliminary bending and a hemming blade that performs final bending. It was processed. However, when hemming is performed using only a press molding die, there are problems such as the die cost increases as the number of types of workpieces increases, and it requires considerable effort to replace the die on site.
このようなことから、たとえばワークに対して成形ロー
ラを押圧走行させることにより、多種のワークに対応で
きるようにしたヘミング成形装置の採用が考えられる。For this reason, it is conceivable to adopt a hemming forming apparatus that can handle various types of workpieces by, for example, moving a forming roller under pressure against the workpieces.
しかし、成形ローラによる場合、予備曲げと本曲げでは
ワークに対する成形ローラの対応角が異なるため、成形
ローラを支持するヘッドの姿勢を変化させる必要があり
、その操作もしくは制御が煩瑣になるという難点がある
。However, when using forming rollers, the corresponding angle of the forming roller with respect to the workpiece is different between preliminary bending and final bending, so it is necessary to change the posture of the head that supports the forming roller, making the operation and control complicated. be.
本発明はこのような事情を考慮してなされ、上記ヘッド
の操作を容易にして、それを作動させるロボットなどの
可動手段における制御を簡略化できるようにしたヘミン
グ成形装置を提供することを課題としている。The present invention has been made in consideration of these circumstances, and an object of the present invention is to provide a hemming forming device that facilitates the operation of the head and simplifies the control of movable means such as a robot that operates the head. There is.
本発明は、二枚のパネルよりなるワークのうちノ一方の
パネル端部に対して、他方のパネルの折曲端を内側へ抱
込み状に折曲げるヘミング成形装置にあって、上記ワー
クに対する姿勢を維持したまま押圧走行し、上記他方の
パネルの折曲端を予備曲げする予備曲げ成形面と本曲げ
する本曲げ成形面とを備えた成形ローラを設け、その成
形ロラが前記ワークの加工部位に沿うように、上記成形
ローラを取り付けたヘッドを移動させる可動手段を設け
ている。The present invention relates to a hemming forming apparatus for folding the bent end of one panel of a workpiece consisting of two panels inwardly into an embrace shape with respect to the end of one panel, and the present invention relates to a hemming forming apparatus that folds the bent end of the other panel inwardly in a hugging manner. A forming roller is provided, which is provided with a preliminary bending surface for pre-bending the bent end of the other panel and a main bending surface for final bending, and the forming roller presses and travels while maintaining the above-mentioned bending edge of the other panel. A movable means is provided for moving the head to which the forming roller is attached so as to follow the shape.
たとえば、予備曲げ成形面を有する予備曲げ用ローラと
本曲げ成形面を有する本曲げ用ローラよりなる成形ロー
ラをヘッドに取付けるに際し、ワタに対する上記各ロー
ラの対応角が個々に所定の角度となるように、かつ各ロ
ーラを加工順に配列構成した場合、上記ワークに対する
上記ヘッドの姿勢を変化させることなく、上記成形ロー
ラを上記ワークの加工部位に沿うように、押圧走行させ
ることにより、予備曲げと本曲げをおこなうことができ
る。For example, when attaching a forming roller consisting of a preliminary bending roller having a preliminary bending surface and a main bending roller having a final bending surface to the head, the corresponding angle of each of the rollers with respect to the cotton should be set at a predetermined angle. and when the rollers are arranged in the order of processing, the forming roller can be pressed and run along the processing area of the workpiece without changing the attitude of the head relative to the workpiece, thereby performing preliminary bending and final bending. Can be bent.
本発明のヘミング成形装置は、ワークに対する姿勢を維
持したまま押圧走行し、パネルの折曲端を予備曲げする
予備曲げ成形面と本曲げする本曲げ成形面とを備えた成
形ローラを設け、その成形ローラが前記ワークの加工部
位に沿うように、上記成形ローラを取り付けたヘッドを
移動させる可動手段を設けているので、ヘッドの姿勢を
変化させる必要がなくなり、その作動操作が容易となる
。The hemming forming device of the present invention is provided with a forming roller that travels under pressure while maintaining its posture with respect to the workpiece, and is provided with a preliminary bending surface that pre-bends the bent end of the panel and a main bending surface that performs the final bending. Since a movable means is provided for moving the head to which the forming roller is attached so that the forming roller follows the processing area of the workpiece, there is no need to change the attitude of the head, and its operation becomes easy.
以下に本発明のヘミング成形装置を実施例に基づいて詳
細に説明する。EMBODIMENT OF THE INVENTION Below, the hemming forming apparatus of this invention is demonstrated in detail based on an Example.
本実施例に示すヘミング成形装置は、インナパネル端部
に対してアウタパネル折曲端を内側に抱込み状に折曲げ
るヘミング成形をおこなうもので、多種のワークに能率
よ（対応できるように、次のように構成される。The hemming forming device shown in this embodiment performs hemming forming by folding the bent end of the outer panel inward to the end of the inner panel. It is configured as follows.
第３図は装置全体を示し、インナパネル１ａとアウタパ
ネル１ｂよりなるワーク１を上載させる治具２の一側外
方にコンベア３が配置され、その上に可動手段であるロ
ボット４が乗載されている。FIG. 3 shows the entire apparatus, in which a conveyor 3 is arranged outside one side of a jig 2 on which a workpiece 1 consisting of an inner panel 1a and an outer panel 1b is placed, and a robot 4 as a movable means is mounted on the conveyor 3. ing.
そのロボット４の手首５には、成形ローラ６を枢支する
ヘッド７が取付けられ、成形ローラ６がワクｌの曲率半
径の大きい略直線部に沿って押圧走行制御されるように
なっている。一方、治具２の四隅外側には、ワークｌの
曲率半径の小さいコーナ部を成形するための成形型８を
駆動する型駆動手段９が配置されている。すなわち、ワ
ーク３の略直線部は成形ローラ６の上方からの加圧と水
平移動により、円弧状のコーナ部は成形型８の加圧によ
り、それぞれヘミング成形するべく構成されている。A head 7 for pivotally supporting a forming roller 6 is attached to the wrist 5 of the robot 4, so that the forming roller 6 is controlled to press and travel along a substantially straight line portion of the work l having a large radius of curvature. On the other hand, mold driving means 9 are arranged outside the four corners of the jig 2 to drive a mold 8 for molding a corner portion of the work l with a small radius of curvature. That is, the substantially straight portion of the workpiece 3 is hemmed by pressure from above and horizontal movement of the forming roller 6, and the arcuate corner portion is hemmed by pressure from the mold 8.
各部の構造等について説明すると、ワーク１の略直線部
の成形がおこなわれている状態を表わす第１図に示すよ
うに、成形ローラ６は予備曲げ成形面を有する第１予備
曲げローラｌＯ１第２予備曲げローラ１１および本曲げ
成形面を有する本曲げローラ１２よりなり、各ローラ１
０〜１２がワク１に対して加工順に個々に所定の角度で
対応するように、矢印ｅ方向に走行するヘッド７に枢支
されている。To explain the structure of each part, as shown in FIG. 1, which shows a state in which a substantially straight portion of the workpiece 1 is being formed, the forming roller 6 is a first pre-bending roller lO1 having a pre-bending forming surface. Consisting of a preliminary bending roller 11 and a main bending roller 12 having a main bending surface, each roller 1
0 to 12 are pivotally supported on a head 7 that runs in the direction of arrow e so that they correspond to each other at a predetermined angle with respect to the workpiece 1 in the order of processing.
第１予備曲げローラｌＯは、第２図（ａ）に示されるよ
うに、予め略直角に折曲げ加工されたアウタパネル１ｂ
の折曲端に対応できるように、第２図（ｂ）に示す如く
、水平に対して大きく傾斜して枢支され、第２予備曲げ
ローラ１１は、第２図（Ｃ）に示すように、第１予備曲
げローラ１０の略半分程度同方向に傾斜して設けられて
いる。As shown in FIG. 2(a), the first preliminary bending roller 10 is used to bend an outer panel 1b at a substantially right angle in advance.
As shown in FIG. 2(b), the second preliminary bending roller 11 is pivoted at a large inclination with respect to the horizontal, as shown in FIG. 2(c). , approximately half of the first pre-bending roller 10 is inclined in the same direction.
本曲げローラ１２は、第２図（ｄ）に示すように、水平
に枢支されている。The main bending roller 12 is horizontally supported as shown in FIG. 2(d).
このような構成によって、第２図（ａ）に示すように、
平らなインナパネル１ａを上載させたアウタパネル１ｂ
の折曲端が、ロボット４によって駆動される上記各ロー
ラ１０〜１２の押圧走行により、第２図（ｂ）、（ｃ）
に示すように、順次段階的かつ連続的に内側へ折り曲げ
加工され、ついには、第２図（ｄ）に示すように、平ら
なインナパネル１ａの端部がアウタパネルｌｂの折曲端
によって抱込まれるように挟着・一体化される。With this configuration, as shown in FIG. 2(a),
Outer panel 1b on which flat inner panel 1a is placed
2(b) and (c) due to the pressing movement of each of the rollers 10 to 12 driven by the robot 4.
As shown in Figure 2(d), the flat inner panel 1a is bent inward in a stepwise and continuous manner, and finally, as shown in Figure 2(d), the end of the flat inner panel 1a is held in place by the bent end of the outer panel lb. They are sandwiched and integrated so that they can be held together.
このとき、ヘッド７は水平に配置されたワーク１に対し
て垂直な姿勢を維持したままで、各ローラ１０−１２を
、アウタパネル１ｂの折曲端に対して下方に押圧し、か
つ水平に走行させるという比較的簡単な移動動作をおこ
なう。したがって、単一のへラド７を介して成形ローラ
６を操作するロボット４には、比較的簡単な教示をすれ
ばよく、精度の高い成形加工を能率よくおこなうことが
できる。At this time, the head 7 presses each roller 10-12 downward against the bent end of the outer panel 1b while maintaining a vertical posture with respect to the horizontally arranged workpiece 1, and runs horizontally. This is a relatively simple movement. Therefore, the robot 4 that operates the forming roller 6 via a single spatula 7 only needs to be given relatively simple instructions, and can efficiently perform highly accurate forming processing.
第４図乃至第６図（ｅ）はワークｌのコーナ部を成形す
るための成形型８および型駆動手段９を示し、上述の成
形型８の平面形状をコーナ部と対応する円弧状に形成す
ると共に、第６図（ａ）〜（ｅ）に示すように、成形型
８には第１予備曲げ面８ａと第２予備曲げ面８ｂと本曲
げ面８ｃとを形成し、これらの各曲げ面１３ａ、３ｂ、
３ｃでアウタパネル１ｂの折曲端を順次加圧することで
、コーナ部のヘミング加工を段階的におこなう。4 to 6(e) show a mold 8 and mold driving means 9 for molding the corner portion of the work l, and the planar shape of the mold 8 described above is formed into an arc shape corresponding to the corner portion. At the same time, as shown in FIGS. 6(a) to 6(e), a first preliminary bending surface 8a, a second preliminary bending surface 8b, and a main bending surface 8c are formed on the mold 8, and each of these bending surfaces is formed. Surfaces 13a, 3b,
By sequentially applying pressure to the bent ends of the outer panel 1b in step 3c, the corner portion is hemmed in stages.
上述の成形型８の背面には、第４図および第５図に示す
ように、型駆動手段９として、スライダ１３を固定し、
このスライダ１３の一側面にはラック１４を形成する一
方、他側面には凹状の摺動ガイド溝１５を形成し、この
スライダ１３を昇降ブロック１６の溝１７内に前後動可
能に挿通している。上述の昇降ブロック１６はスクリュ
１８の駆動によりスライダ１３を伴って左右のガイドブ
ロック１９．２０に沿って上下動する。As shown in FIGS. 4 and 5, a slider 13 is fixed to the back surface of the mold 8 as a mold driving means 9.
A rack 14 is formed on one side of the slider 13, and a concave sliding guide groove 15 is formed on the other side, and the slider 13 is inserted into the groove 17 of the lifting block 16 so as to be movable back and forth. . The above-mentioned lifting block 16 moves up and down along the left and right guide blocks 19 and 20 together with the slider 13 by driving the screw 18.
また、上述の左右のガイドブロック１９．２０間に取付
けた基板２１と上坂２２との間には、上述のスクリュ１
８およびピニオン２３が可回動に軸架されている。この
ピニオン２３が上述のラック１４に噛合されてスライダ
１３を介して前述の成形型８が前後動させられる。そし
て、スクリュ１８の回転により昇降ブロック１６を介し
て上述の成形型８が上下動されるように構成している。Further, between the base plate 21 and the upper slope 22 installed between the left and right guide blocks 19 and 20, there is a screw 1 as described above.
8 and a pinion 23 are rotatably mounted on an axis. This pinion 23 is engaged with the rack 14 described above, and the mold 8 described above is moved back and forth via the slider 13. The mold 8 is configured to be moved up and down by the rotation of the screw 18 via the lifting block 16.
さらに上述のスライダ１３の摺動ガイド溝１５には昇降
ブロック１６側に固定した摺動案内用のキ２４を配設し
ている。Further, in the sliding guide groove 15 of the slider 13 described above, a sliding guiding key 24 fixed to the lifting block 16 side is provided.
前述した成形ローラ６と上記成形型８を併用する本装置
のヘミング成形は以下のようにおこなわれる。Hemming forming using the present apparatus which uses the above-mentioned forming roller 6 and the above-mentioned forming die 8 is performed as follows.
まず、第３図に示すように、治具２にアウタパネル１ｂ
を上載させ、その上にインナパネル１ａを配置する。そ
して、成形ローラ６をアウタパネル１ｂの略直線部の一
端側の折曲端に対応させて、コンベア３とロボット４の
駆動制御により他端側まで押圧走行させ、第１図および
第２図（ａ）〜第２図（ｄ）に示すように、段階的かつ
連続的にヘミング成形をおこなう。First, as shown in FIG. 3, the outer panel 1b is placed on the jig 2.
is placed on top, and the inner panel 1a is placed thereon. Then, the forming roller 6 is made to correspond to the bent end on one end side of the substantially straight part of the outer panel 1b, and is pressed and driven to the other end side under the drive control of the conveyor 3 and the robot 4, and as shown in FIGS. ) to FIG. 2(d), hemming is performed stepwise and continuously.
次いで、コーナ部を、型駆動手段９によって駆動される
成形型８によって第６図（ａ）〜（ｅ）に示すように、
段階的にヘミング成形をおこなう。Next, as shown in FIGS. 6(a) to 6(e), the corner portion is shaped by the mold 8 driven by the mold driving means 9.
Hemming is performed in stages.
すなわち、まず、型駆動手段９を作動させてスライダ１
３を前進させ、第６図（ｂ）に示すように成形型８の第
１予備曲げ面８ａでコーナ部におけるアウタパネル１ｂ
の折曲端を６０度前後にプリヘミング加工する。そして
、第６図（Ｃ）に示すように、スライダ１３をさらに前
進させ、その加工面を成形型８の第２予備曲げ面８ｂで
４０度前後に再度プリヘミング加工する。次に、成形型
８を一旦上昇・前進させ、その第６図（ｄ）に示すよう
に、プリヘミング加工されたコーナ部の折曲端に対して
本曲げ面８ｃを対応させる。しかる後に、スクリュ１８
（第４図、第５図参照）を回転駆動させて成形型８を下
降させ、第６図（６）に示すように、プリヘミング加工
された折曲端を本曲げ面８Ｃでインナパネル１ａの端部
に対して完全に折曲げ、ヘミング成形加工を完了する。That is, first, the mold driving means 9 is operated to move the slider 1.
3 is advanced, and as shown in FIG.
Pre-hem the bent end at around 60 degrees. Then, as shown in FIG. 6(C), the slider 13 is further advanced, and the processed surface is again prehemmed at about 40 degrees with the second preliminary bending surface 8b of the mold 8. Next, the mold 8 is once raised and advanced, and as shown in FIG. 6(d), the main bending surface 8c is made to correspond to the bent end of the prehemmed corner. After that, screw 18
(see Figures 4 and 5) to lower the mold 8, and as shown in Figure 6 (6), the prehemmed bent end is aligned with the main bending surface 8C of the inner panel 1a. Completely bend the end of the hem and complete the hemming process.
このように、アウタパネルｌｂとインナパネルｌａとを
ヘミング成形するにあたり、略直線部は成形ローラ６で
、またコーナ部は成形型８でそれぞれ分担して成形する
ので、従来のようにワークの種類に応じて型全体を取替
える必要がなく、コナ部の成形型のみを交換すれば多種
のワークに対応できる。したがって、型費および設備費
の大幅な低減を図ることができ、かつ段取り替えが容易
となり、作業コストを低減することもできる。In this way, when forming the outer panel lb and the inner panel la by hemming, the substantially straight part is formed by the forming roller 6, and the corner part is formed by the forming die 8. There is no need to replace the entire mold, and it is possible to handle a wide variety of workpieces by simply replacing the corner mold. Therefore, it is possible to significantly reduce mold costs and equipment costs, and it is also possible to change setups easily, thereby reducing work costs.
とりわけ、略直線部の加工においては、単一のへソド７
に取り付けられた成形ローラ６の姿勢を維持したままで
一回の押圧走行をおこなうことにより、ヘミング成形加
工を完了することができるので、ロボット４の制御動作
が著しく簡略化され、作業能率および加工精度が著しく
向上される。In particular, when machining approximately straight parts, a single hem 7 is required.
The hemming forming process can be completed by performing one press run while maintaining the posture of the forming roller 6 attached to the robot 4, which greatly simplifies the control operation of the robot 4, improving work efficiency and processing. Accuracy is significantly improved.
第７図（ａ）〜（Ｃ）は、略直線部の成形をおこなう成
形ローラの他の実施例を示し、単一の成形ローラ２５に
、第１予備曲げ面２５ａ１第２予備曲げ面２５ｂおよび
本曲げ面２５Ｃを同軸段列状に形成したもので、前実施
例の装置における成形ローラ６に代えて使用される。な
お、図中、２６はヘッドで、ロボット４の手首５に取付
けられる。FIGS. 7(a) to (C) show another embodiment of a forming roller for forming a substantially straight section, in which a single forming roller 25 has a first pre-bending surface 25a, a second pre-bending surface 25b and The main bending surface 25C is formed in a coaxial stepped row shape, and is used in place of the forming roller 6 in the apparatus of the previous embodiment. In addition, in the figure, 26 is a head, which is attached to the wrist 5 of the robot 4.
このような成形ローラ２５を用いる場合、まず第７図（
ａ）に示すように、第１予備曲げ面２５ａによってアウ
タパネルｌｂの略直線部の折曲端を６０度前後にプリヘ
ミング加工した後、第６図（ｂ）に示すように、成形型
８の第１予備曲げ面８ａでコーナ部の折曲端を６０度前
後にプリヘミング加工する。次に、第７図（ｂ）に示す
ように、プリヘミング加工された略直線部の折曲端を成
形ローラ２５の第２予備曲げ面２５ｂによってさらに４
０度前後に再度プリヘミング加工した後、第６図（Ｃ）
に示すように、プリヘミング加工されたコーナ部の折曲
端を成形型８の第２予備曲げ面８ｂでさらに４０度前後
に再度プリヘミング加工する。そして、第７図（Ｃ）に
示すように、プリヘミング加工された略直線部の折曲端
を、成形ロラ２５の本曲げ面２５ｃによって、インナパ
ネル１ａの端部に対して完全に折曲げヘミング加工する
。その後、成形型８を一旦上昇、前進させ、第６図（ｄ
）に示すように、プリヘミング加工されたコーナ部の折
曲端に本曲げ面８Ｃを対応させる。次いで、成形型８を
下降させ、第６図（ｅ）に示すように、プリヘミング加
工されたアウタパネル１ｂのコーナ部の折曲端を本曲げ
面８ｃでインナパネル１ａの端部に対して完全に折曲げ
てヘミング成形加工を完了する。When using such a forming roller 25, first, as shown in FIG.
As shown in FIG. 6(b), after pre-hemming the bent end of the substantially straight portion of the outer panel lb to around 60 degrees using the first preliminary bending surface 25a, as shown in FIG. 6(b), The bent end of the corner portion is prehemmed to about 60 degrees on the first preliminary bending surface 8a. Next, as shown in FIG. 7(b), the bent end of the prehemmed substantially straight section is further bent by the second preliminary bending surface 25b of the forming roller 25.
After pre-hemming again around 0 degrees, Figure 6 (C)
As shown in FIG. 2, the bent end of the prehemmed corner portion is further prehemmed at about 40 degrees using the second preliminary bending surface 8b of the mold 8. Then, as shown in FIG. 7(C), the bent end of the prehemmed substantially straight section is completely bent against the end of the inner panel 1a by the final bending surface 25c of the forming roller 25. Perform hemming. After that, the mold 8 is once raised and moved forward, and as shown in FIG.
), the main bending surface 8C is made to correspond to the bent end of the prehemmed corner part. Next, the mold 8 is lowered, and as shown in FIG. 6(e), the bent end of the corner portion of the prehemmed outer panel 1b is completely aligned with the end of the inner panel 1a at the final bent surface 8c. Complete the hemming process by bending it.
この実施例においても、前実施例と同様にワクｌの略直
線部を成形ローラ２５で、またコーナ部を成形型８でそ
れぞれ分担して成形するので、従来のようにワークの種
類に応じて型全体を取替える必要がなく、コーナ部の成
形型のみを交換すれば多種のワークに対応できる。した
がって、型費および設備費の大幅な低減を図ることがで
き、かつ段取り替えが容易となり、作業コストを低減す
ることもできる。In this embodiment as well, as in the previous embodiment, the approximately linear part of the workpiece l is formed by the forming roller 25, and the corner part is formed by the forming die 8, so that the molding process can be performed according to the type of the workpiece, as in the past. There is no need to replace the entire mold, and it is possible to handle a wide variety of workpieces by simply replacing the corner mold. Therefore, it is possible to significantly reduce mold costs and equipment costs, and it is also possible to change setups easily, thereby reducing work costs.
略直線部の加工においては、前実施例と同様にヘッド７
の姿勢を変化させることなく、アウタパネル１ｂの折曲
端に沿わせて成形ローラ２５を押圧走行させることによ
りヘミング成形をおこなえるので、ロボット４の制御動
作が簡略化され、作業能率および加工精度が著しく向上
される。また、略直線部とコーナ部を交互に段階的に加
工するのでコーナ部にしわ等が生じることなく、全体の
仕上がりが良好となり製品品質が向上される。When machining a substantially straight section, the head 7 is used as in the previous embodiment.
Since hemming can be performed by pressing and running the forming roller 25 along the bent edge of the outer panel 1b without changing the posture of the outer panel 1b, the control operation of the robot 4 is simplified, and work efficiency and processing accuracy are significantly improved. Improved. Furthermore, since the approximately straight portions and corner portions are processed in stages alternately, wrinkles and the like do not occur at the corner portions, resulting in a good overall finish and improved product quality.
第８図はワーク１に対して成形ローラ６を相対移動させ
る可動手段としてのロボットの他の実施例を示し、左右
のガイドレール３１．３２に沿って前後動するスライド
基盤３３の上に、上述の治具２および型駆動手段９を配
設すると共に、左右のガイドレール３１．３２間には門
形の架構３４を取付け、その架構３４からワーク１側へ
向けて下方に延びるロボットアーム３５を具備する所謂
ＮＣタイプのＸ−Ｙロボット３６を設けている。FIG. 8 shows another embodiment of the robot as a movable means for moving the forming roller 6 relative to the workpiece 1. In addition to disposing the jig 2 and the die driving means 9, a gate-shaped frame 34 is installed between the left and right guide rails 31 and 32, and a robot arm 35 extending downward from the frame 34 toward the workpiece 1 side is installed. A so-called NC type XY robot 36 is provided.
そのロボットアーム３５の先端にヘッド７を介して成形
ローラ６が取付けられ、ＮＣ制御によりヘッド７が同図
の矢印ｆ、ｇ方向に、スライド基盤３３が矢印り方向に
移動制御されるように構成している。このような構成に
よって、前記実施例と同様に、曲率半径の大きい略直線
部はＸ−Ｙロボット３６により成形ローラ６を上方から
押圧して走行させることにより、円弧状のコーナ部は型
駆動手段９による成形型８の加圧により、それぞれヘミ
ング成形がおこなわれる。A forming roller 6 is attached to the tip of the robot arm 35 via a head 7, and the configuration is such that the head 7 is controlled to move in the directions of arrows f and g in the figure, and the slide base 33 is controlled to move in the direction of the arrow. are doing. With this configuration, similarly to the embodiment described above, the X-Y robot 36 presses and runs the forming roller 6 from above for a substantially straight section with a large radius of curvature, and the arcuate corner section is moved by the mold driving means. Hemming is performed by pressurizing the mold 8 by the mold 9.
第９図および第１０図はヘミング成形装置の別の実施例
を示し、成形ローラ２５の可動手段は先の実施例または
前実施例のものと同様であるが、成形型８の型駆動手段
４１を次のように構成している。すなわち、Ｌ字状のペ
ースブロック４２上端にヒンジ４３を介してＵ字状アー
ム４４の基端を枢着し、このＵ字状アーム４４の遊端に
成形型８を取付ける一方、上述のベースブロック４２の
下部と、Ｕ字状アーム４４の中間部背面との間にそれぞ
れヒンジ４５，４６を介して加圧プレス用の油圧シリン
ダ４７を張架している。なお、図中、４８はピストンロ
ンドである。9 and 10 show another embodiment of the hemming forming device, in which the movable means of the forming roller 25 are similar to those of the previous or previous embodiment, but the mold drive means 41 of the forming mold 8 is configured as follows. That is, the base end of a U-shaped arm 44 is pivotally attached to the upper end of the L-shaped pace block 42 via a hinge 43, and the mold 8 is attached to the free end of this U-shaped arm 44, while the above-mentioned base block A hydraulic cylinder 47 for pressure press is stretched between the lower part of the U-shaped arm 42 and the back surface of the middle part of the U-shaped arm 44 via hinges 45 and 46, respectively. In addition, in the figure, 48 is a piston rond.
このヘミング成形装置によるヘミング成形は以下のよう
におこなわれる。まず、第９図に示すように、上述の治
具２にアウタパネル１ｂを上載し、その上にインナパネ
ル１ａを配設する。次に成形ローラ２５の第１予備曲げ
面２５ａをアウタパネル１ｂの折曲端に対応させ、ロボ
ット４もしくはＸＹ−ロボット３６の駆動制御により、
成形ロラ２５を矢印ｊ、に方向に押圧走行させ、第１予
備曲げ面２５ａでワークｌの略直線部およびコナ部を所
定角度にプリヘミング加工する（第７図（ａ）参照）。Hemming by this hemming forming apparatus is performed as follows. First, as shown in FIG. 9, the outer panel 1b is placed on the jig 2 described above, and the inner panel 1a is placed thereon. Next, the first pre-bending surface 25a of the forming roller 25 is made to correspond to the bent end of the outer panel 1b, and under drive control of the robot 4 or the XY-robot 36,
The forming roller 25 is pressed and moved in the direction of arrow j, and the substantially straight and corner portions of the workpiece 1 are prehemmed at a predetermined angle using the first preliminary bending surface 25a (see FIG. 7(a)).
そして、成形ローラ２５の第２予備曲げ面２５ｂをプリ
ヘミング加工面に対応させ、前述と同様に、第９図の矢
印ｊ、に方向に押圧走行させ、ワークｌの略直線部およ
びコーナ部を所定角度に再度プリヘミング加工する（第
７図（ｂ）参照）。Then, the second pre-bending surface 25b of the forming roller 25 is made to correspond to the pre-hemming surface, and as described above, it is pressed and run in the direction of the arrow j in FIG. Pre-hemming is performed again at a predetermined angle (see FIG. 7(b)).
次いで、成形ローラ２５の本曲げ面２５ｃをプリヘミン
グされた加工面に対応させて、成形ロラ２５をロボット
４もしくはＸＹ−ロボット３６の制御により、略直線部
に沿って押圧走行させ、アウタパネル１ｂの折曲端をイ
ンナパネルｌａの端部に完全に折曲げて略直線部をヘミ
ング加工する（第７図（Ｃ）参照）。しかる後に、第１
０図に示すように、型駆動手段４１における油圧シリン
ダ４７を往動させ、Ｕ字状アーム４４を介して成形型８
を下方に加圧することにより、アウタパネルｌｂのプリ
ヘミングされたコーナ部の折曲端をインナパネル１ａの
端部に完全に折曲げ、ヘミング成形加工を完了する。Next, the forming roller 25 is pressed and moved along a substantially straight line section under the control of the robot 4 or the XY-robot 36, with the main bending surface 25c of the forming roller 25 corresponding to the prehemmed processing surface, thereby forming the outer panel 1b. The bent end is completely bent to the end of the inner panel la, and the substantially straight portion is hemmed (see FIG. 7(C)). After that, the first
As shown in Figure 0, the hydraulic cylinder 47 in the mold drive means 41 is moved forward, and the mold 8
By applying pressure downward, the bent end of the prehemmed corner of the outer panel lb is completely bent to the end of the inner panel 1a, and the hemming process is completed.
このように、ワークｌの略直線部およびコーナ部の予備
曲げを成形ローラ２５で行なう一方、本曲げ時には上述
の略直線部を成形ローラ２５で、またコーナ部を成形型
８でそれぞれ成形するように構成すると、成形型８は単
一もしくは単一成形面を有するものでよく、この成形型
８の構造およびその操作を簡略化をすることができる。In this way, while the pre-bending of the substantially straight portions and corner portions of the work l is performed by the forming roller 25, during the final bending, the above-mentioned substantially straight portions are formed by the forming roller 25, and the corner portions are formed by the forming die 8. With this configuration, the mold 8 may have a single molding surface or a single molding surface, and the structure and operation of the mold 8 can be simplified.
図面は本発明の実施例を示し、第１図は成形ロラにより
ワークの略直線部をヘミング成形している状態を示す模
式図、第２図（ａ）〜（ｄ）は第１図におけるＡ−Ａ、
Ｂ−Ｂ、Ｃ−Ｃ，Ｉ）−Ｄ線矢視断面図、第３図はヘミ
ング成形装置の斜視図、第４図はコーナ部の成形型およ
び型駆動手段の断面図、第５図はコーナ部の成形型およ
び型駆動手段の斜視図、第６図（ａ）は第４図のＶｌ−
ＶＩ線矢視断面図、第６図（ｂ）は成形型による第１の
予備曲げ工程を示す断面図、第６図（Ｃ）は第２の予備
曲げ工程を示す断面図、第６図（ｄ）は本曲げ準備工程
を示す断面図、第６図（ｅ）は本曲げ工程を示す断面図
、第７図（ａ）は成形ロラの他の実施例による第１の予
備曲げ工程を示す断面図、第７図（ｂ）は第２予備曲げ
工程を示す断面図、第７図（Ｃ）は本曲げ工程を示す断
面図、第８図は可動手段の他の実施例を示す斜視図、第
９図はヘミング成形装置の別の実施例における加工工程
を説明するための斜視図、第１０図は別の実施例におけ
る型駆動手段の斜視図である。
１−ワーク、１ａ−・−パネル（インナパネル）、１ｂ
−パネル（アウタパネル）、４．３６−可動手段（ロボ
ット、Ｘ−Ｙロボット）、６．２５成形ローラ、７．２
６− ヘッド。
特許出願人 マ ツ ダ 株式会社代理人 弁理士
吉相 勝俊（ほか１名）９、
第
図
（ａ）
第
図
（ｄ）The drawings show an embodiment of the present invention, and FIG. 1 is a schematic diagram showing a state in which a substantially straight part of a workpiece is hemmed by a forming roller, and FIGS. 2(a) to 2(d) are A in FIG. 1. -A,
BB, C-C, I)-D line arrow sectional view, FIG. 3 is a perspective view of the hemming forming device, FIG. 4 is a sectional view of the corner mold and die driving means, and FIG. A perspective view of the corner molding die and die driving means, FIG. 6(a) is the Vl-
6(b) is a sectional view showing the first preliminary bending process using the mold, FIG. 6(C) is a sectional view showing the second preliminary bending process, FIG. d) is a cross-sectional view showing the main bending preparation step, FIG. 6(e) is a cross-sectional view showing the main bending step, and FIG. 7(a) is a first preliminary bending step using another embodiment of the forming roller. 7(b) is a sectional view showing the second preliminary bending process, FIG. 7(C) is a sectional view showing the main bending process, and FIG. 8 is a perspective view showing another embodiment of the movable means. , FIG. 9 is a perspective view for explaining the processing steps in another embodiment of the hemming forming apparatus, and FIG. 10 is a perspective view of the die driving means in another embodiment. 1-Work, 1a--Panel (inner panel), 1b
- Panel (outer panel), 4.36 - Movable means (robot, X-Y robot), 6.25 Forming roller, 7.2
6- Head. Patent applicant Mazda Corporation Agent Patent attorney Katsutoshi Yoshiso (and one other person) 9, Figure (a) Figure (d)
Claims (1)
ル端部に対して、他方のパネルの折曲端を内側へ抱込み
状に折曲げるヘミング成形装置において、 上記ワークに対する姿勢を維持したまま押圧走行し、上
記他方のパネルの折曲端を予備曲げする予備曲げ成形面
と本曲げする本曲げ成形面とを備えた成形ローラが設け
られ、 その成形ローラが前記ワークの加工部位に沿うように、
上記成形ローラを取り付けたヘッドを移動させる可動手
段が設けられていることを特徴とするヘミング成形装置
。(1) In a hemming forming device that folds the folded end of one panel of a workpiece consisting of two panels inward to the end of the other panel, the above-mentioned attitude toward the workpiece is maintained. A forming roller is provided which is provided with a preliminary bending surface for pre-bending the folded end of the other panel and a final bending surface for final bending the folded end of the other panel, and the forming roller runs along the processing area of the workpiece. like,
A hemming forming apparatus characterized in that a movable means for moving the head to which the forming roller is attached is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63223851A JP2675347B2 (en) | 1988-09-06 | 1988-09-06 | Hemming molding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63223851A JP2675347B2 (en) | 1988-09-06 | 1988-09-06 | Hemming molding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0270325A true JPH0270325A (en) | 1990-03-09 |
| JP2675347B2 JP2675347B2 (en) | 1997-11-12 |
Family
ID=16804711
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63223851A Expired - Lifetime JP2675347B2 (en) | 1988-09-06 | 1988-09-06 | Hemming molding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2675347B2 (en) |
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