JPH0760370A - Hemming device - Google Patents
Hemming deviceInfo
- Publication number
- JPH0760370A JPH0760370A JP19357593A JP19357593A JPH0760370A JP H0760370 A JPH0760370 A JP H0760370A JP 19357593 A JP19357593 A JP 19357593A JP 19357593 A JP19357593 A JP 19357593A JP H0760370 A JPH0760370 A JP H0760370A
- Authority
- JP
- Japan
- Prior art keywords
- work
- pressing
- roller
- hemming
- edge
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は自動車用ドアパネルな
どの金属板のワークの端縁を２つ折り状に曲げ変形させ
る折り曲げ加工に適用されるヘミング加工装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hemming device applied to a bending process for bending and deforming an end edge of a work of a metal plate such as an automobile door panel into two folds.
【０００２】[0002]
【従来の技術】ワークの端縁の折り曲げ加工に際し、従
来では例えば図５に示すように、直角に折り曲げられた
折り曲げ縁５１を有するワーク５０をプレス機の下型５
２上にセットして固定した状態で、斜面状の加圧面５３
ａを有する上型５３を下降させ、折り曲げ縁５１を約４
５°折り曲げてプレヘミング加工し、次に、ワーク５０
を他のプレス機の下型５４上にセットして固定した状態
で、下型５４の受圧面とほぼ平行な加圧面５５ａを有す
る上型５５を下降させ、折り曲げ縁５１を２つ折り状に
折り曲げてワーク５０をヘミング加工したり、図６に示
すように、ワーク５０を下型５６上にセットして固定し
た状態で、ワーク５０の折り曲げ縁５１を軸心が傾斜し
た状態でロボットマニュピレータに把持されたローラ５
７によって斜め下方へ押圧しながらローラ５７をワーク
５０の端縁に沿って移動させ、折り曲げ縁５１を約４５
°折り曲げてプリヘミング加工し、次に、折り曲げ縁５
１を軸心を水平にしたローラ５７によって下方へ押圧し
ながら、ローラ５７をワーク５０の端縁に沿って移動さ
せ、折り曲げ縁５１を２つ折り状に折り曲げてワーク５
０をヘミング加工していた。2. Description of the Related Art Conventionally, when bending an end edge of a work, a work 50 having a bent edge 51 bent at a right angle is conventionally used as shown in FIG.
Slope-shaped pressing surface 53 in a state where it is set on 2 and fixed.
The upper die 53 having a is lowered, and the bending edge 51 is moved to about 4
Bend 5 ° for pre-hemming, then work 50
Is set and fixed on the lower die 54 of another press machine, the upper die 55 having a pressing surface 55a substantially parallel to the pressure receiving surface of the lower die 54 is lowered, and the bending edge 51 is folded in two. The workpiece 50 is hemmed by the robot manipulator, or the workpiece 50 is set on the lower die 56 and fixed as shown in FIG. Roller 5
The roller 57 is moved along the edge of the workpiece 50 while being pressed obliquely downward by 7 to move the bending edge 51 to about 45.
Bend and pre-hemming, then bend edge 5
While pressing 1 downward by the roller 57 having the horizontal axis, the roller 57 is moved along the edge of the work 50, and the bending edge 51 is folded in two to form the work 5.
0 was hemmed.
【０００３】[0003]
【発明が解決しようとする課題】図５に示すヘミング加
工方法では大量生産に適している反面、設備コストが高
くなり、また、設備の製作期間が長くなる問題点や、汎
用性に欠ける問題点がある。また、図６に示すヘミング
加工方法ではローラ５７をワーク５０の折り曲げ縁５１
に押し付けて折り曲げ縁５１を折り曲げるときにロボッ
トマニュピレータに外力が加えられてロボットマニュピ
レータの関節部位に大きな負荷が加わるので、関節部位
の摺動部や軸受部にガタツキが起生し、加工精度が低下
したり、折り曲げ形状が変動し易い問題点がある。本発
明は上記問題点を解消することを課題とするものであ
る。The hemming method shown in FIG. 5 is suitable for mass production, but on the other hand, the equipment cost is high and the equipment manufacturing period is long, and the versatility is lacking. There is. Further, in the hemming processing method shown in FIG. 6, the roller 57 is attached to the bending edge 51 of the work 50.
External force is applied to the robot manipulator when the bending edge 51 is pressed against the robot manipulator and a large load is applied to the joint part of the robot manipulator. However, there is a problem that the bent shape is likely to change. The present invention aims to solve the above problems.
【０００４】[0004]
【課題を解決するための手段】本発明はヘミング加工装
置において、ワークの輪郭形状通りに移動制御されるロ
ボットマニュピレータの手首部にはワークの端縁の下面
に圧接して転動する受けローラと、ワークの折り曲げ縁
をプリヘミング加工角度に曲げ変形させる第１加圧部お
よびプリヘミング加工済みのワークの折り曲げ縁をヘミ
ング加工角度に曲げ変形させる第２加圧部を有し、前記
折り曲げ縁に圧接して転動する押圧ローラと、前記受け
ローラと前記押圧ローラとの相対位置を前記両加圧部の
うちの一方が前記受けローラに対向するように変位させ
る位置変えシリンダと、前記押圧ローラを昇降させる加
圧シリンダとを結合した構成を有する。According to the present invention, in a hemming apparatus, a wrist roller of a robot manipulator, which is controlled to move in accordance with the contour shape of a workpiece, is provided with a receiving roller which rolls in pressure contact with the lower surface of the edge of the workpiece. A first pressing portion for bending and deforming a bending edge of a work to a pre-hemming processing angle, and a second pressing portion for bending and deforming a bending edge of a pre-hemming processed work to a hemming processing angle. A pressing roller that rolls in pressure contact; a position changing cylinder that displaces the relative position of the receiving roller and the pressing roller so that one of the pressing portions faces the receiving roller; and the pressing roller. It has a structure in which a pressure cylinder for raising and lowering is coupled.
【０００５】[0005]
【作用】ロボットマニュピレータの手首部に結合した受
けローラと、押圧ローラの第１加圧部若しくは第２加圧
部とが対向した状態で、加圧シリンダが作動して前記押
圧ローラが下降すると、ワークの折り曲げ縁の一部が前
記第１加圧部若しくは前記第２加圧部によって加圧され
てプリヘミング加工角度若しくはヘミング加工角度に曲
げ変形する。この状態でロボットマニュピレータがワー
クの輪郭形状通りに移動し、前記受けローラがワークの
端縁の下面に圧接して転動し、前記第１加圧部若しくは
前記第２加圧部が前記折り曲げ縁に圧接して転動しなが
ら前記折り曲げ縁を順次加圧し、前記折り曲げ縁が前記
第１加圧部若しくは前記第２加圧部によって連続的に加
圧されて順次プリヘミング加工角度若しくはヘミング加
工角度に曲げ変形し、ワークの端縁がプリヘミング加工
若しくはヘミング加工される。When the receiving roller connected to the wrist of the robot manipulator and the first pressing portion or the second pressing portion of the pressing roller face each other, the pressing cylinder operates to lower the pressing roller, A part of the bending edge of the work is pressed by the first pressure applying section or the second pressure applying section and is bent and deformed to the pre-hemming processing angle or the hemming processing angle. In this state, the robot manipulator moves in accordance with the contour shape of the work, the receiving roller presses against the lower surface of the end edge of the work and rolls, and the first pressurizing portion or the second pressurizing portion causes the folding edge. The bending edge is sequentially pressed while being pressed into contact with and rolling, and the bending edge is continuously pressed by the first pressing portion or the second pressing portion to sequentially pre-hemming angle or hemming angle. The work is bent and deformed to the end, and the edge of the work is pre-hemmed or hemmed.
【０００６】[0006]
【発明の効果】本発明は前記したように構成してあるの
で、ロボットマニュピレータの手首部に対して押圧力を
加えずにワークの折り曲げ縁を曲げ変形させることがで
き、ワークの折り曲げ縁を曲げ変形させるときにロボッ
トマニュピレータの手首部に加わる負荷を低減させてワ
ークのプリヘミング加工およびヘミング加工を円滑に遂
行することができる。従って、ロボットマニュピレータ
の手首部にガタツキが起生して加工精度が低下する不具
合を解消することができ、製品の加工精度および製品の
品質を向上させることができる。Since the present invention is configured as described above, the bending edge of the work can be bent and deformed without applying a pressing force to the wrist of the robot manipulator, and the bending edge of the work can be bent. It is possible to reduce the load applied to the wrist portion of the robot manipulator when deforming and to smoothly perform the pre-hemming process and the hemming process of the work. Therefore, it is possible to solve the problem that the rattling of the robot manipulator causes rattling and the processing accuracy is lowered, and the processing accuracy of the product and the quality of the product can be improved.
【０００７】[0007]
【実施例】次に、本発明の１実施例を図１〜図４にした
がって説明する。アウタパネル１ａと、このアウタパネ
ル１ａに周縁部２が接合されたインナパネル１ｂとを有
するワーク１の周縁部にはインナパネル１ｂの周縁２の
外方へ突出されたアウタパネル１ａの周縁部が前工程の
プレス加工によって予め約９０°折り曲げられて成形さ
れ、プリヘミング加工およびヘミング加工される折り曲
げ縁３が形成されている。DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, one embodiment of the present invention will be described with reference to FIGS. At the peripheral edge of the work 1 having the outer panel 1a and the inner panel 1b having the peripheral edge 2 joined to the outer panel 1a, the peripheral edge of the outer panel 1a protruding outward from the peripheral edge 2 of the inner panel 1b is the same as the previous step. The bent edge 3 is preliminarily bent and formed by pressing by about 90 ° to be pre-hemmed and hemmed.
【０００８】ワーク１の折り曲げ縁３を第１段階でプリ
ヘミング加工角度（約４５°）に曲げ変形させてワーク
１をプリヘミング加工し、第２段階で、プリヘミング加
工済みのワーク１の折り曲げ縁３をヘミング加工角度
（０°）に曲げ変形させ、インナパネル１ｂの周縁２を
間に挟んで２つ折り状に折り曲げられたヘム部４を成形
してワーク１をヘミング加工するヘミング加工装置にお
いて、台盤５上にはワーク１が位置決めされて水平姿勢
でセットされるワーク受け６が固定状態若しくは水平回
動可能に設置されている。ワーク１はその各コーナ部が
位置決め部材若しくはクランプ部材によってそれぞれ拘
束された状態でワーク受け６上にセットされる。The bending edge 3 of the work 1 is bent and deformed to a pre-hemming working angle (about 45 °) in the first step to pre-hemming the work 1, and in the second step, the pre-hemming-processed work 1 is bent. In a hemming device for hemming a work 1 by bending and deforming the edge 3 to a hemming angle (0 °) and forming a hem portion 4 folded in two with the peripheral edge 2 of the inner panel 1b sandwiched therebetween. A work receiver 6 for positioning the work 1 and setting it in a horizontal posture is installed on the base 5 in a fixed state or horizontally rotatable. The work 1 is set on the work receiver 6 in a state where the respective corner portions thereof are restrained by the positioning member or the clamp member, respectively.
【０００９】台盤５上にワーク受け６に対向して設置さ
れたロボット７はワーク１の輪郭形状に合わせて制御装
置に記憶されたプログラムに従って移動制御され、ロボ
ット７のロボットマニュピレータ８の手首部８ａにはワ
ーク１の折り曲げ縁３を曲げ変形させるロボットハンド
９のベース１０がロボット７の進行方向と直交する水平
軸ａの回りの回動可能に結合されている。The robot 7 installed on the base 5 so as to face the workpiece receiver 6 is controlled to move in accordance with the program stored in the control device according to the contour shape of the workpiece 1, and the wrist portion of the robot manipulator 8 of the robot 7 is controlled. A base 10 of a robot hand 9 that bends and deforms the bending edge 3 of the work 1 is rotatably connected to 8a about a horizontal axis a orthogonal to the traveling direction of the robot 7.
【００１０】ロボットハント９のベース１０は垂直状に
設置された垂立部１０ａと、この垂立部１０ａの上下端
部にそれぞれ連接されてワーク１側へ突出された上下１
対の横出部１０ｂとによって側面形状がコ形状に形成さ
れている。The base 10 of the robot hunt 9 has a vertical portion 10a installed vertically and an upper and lower portion 1 which is connected to the upper and lower ends of the vertical portion 10a and projects toward the work 1 side.
The side shape is formed in a U shape by the pair of the lateral projections 10b.
【００１１】ベース１０の下側の横出部１０ｂ上には内
外１対の下軸受け１１が水平軸ａと平行な方向への共同
移動可能に設置され、この両下軸受け１１間には、円筒
面状の外周面を有し、両下軸受け１１によって回転可能
に支持されてワーク１の端縁の下面に圧接して水平軸ａ
と平行な回転軸を中心として回転する受けローラ１２が
設置されている。A pair of inner and outer lower bearings 11 are installed on the lower side projecting portion 10b of the base 10 so as to be jointly movable in a direction parallel to the horizontal axis a. It has a planar outer peripheral surface, is rotatably supported by both lower bearings 11, and is brought into pressure contact with the lower surface of the end edge of the work 1 to produce a horizontal axis
A receiving roller 12 that rotates about a rotation axis parallel to is installed.
【００１２】ベース１０の垂立部１０ａの下端には外側
の下軸受け１１に結合されて水平方向へ進退動するピス
トンロッド１３ａを有し、受けローラ１２を両下軸受け
１１とともに軸方向へ移動させる位置変えシリンダ（空
圧若しくは油圧シリンダ）１３が装入されている。At the lower end of the upright portion 10a of the base 10, there is provided a piston rod 13a which is connected to an outer lower bearing 11 and moves back and forth in the horizontal direction, and moves the receiving roller 12 together with the both lower bearings 11 in the axial direction. A position changing cylinder (pneumatic or hydraulic cylinder) 13 is inserted.
【００１３】ベース１０の上側の横出部１０ｂには下方
および上方へ進退動するピストンロッド１４ａを有する
加圧シリンダ（空圧若しくは油圧シリンダ）１４が下向
き状に結合されている。A pressurizing cylinder (pneumatic or hydraulic cylinder) 14 having a piston rod 14a for advancing and retreating downward and upward is coupled to the lateral projecting portion 10b on the upper side of the base 10 in a downward direction.
【００１４】加圧シリンダ１４のピストンロッド１４ａ
の下端に結合された軸受け台１５には内外１対の上軸受
け１６が結合され、この両上軸受け１６間には両上軸受
け１６によって回転可能に支持され、加圧シリンダ１４
によって駆動されて軸受け台１５とともに昇降し、ま
た、ワーク１の折り曲げ縁３に圧接して水平軸ａと平行
な回転軸を中心として回転する押圧ローラ１７が設置さ
れている。Piston rod 14a of pressurizing cylinder 14
An inner and outer pair of upper bearings 16 are coupled to the bearing base 15 coupled to the lower end of the pressure bearing cylinder 15. The upper and lower bearings 16 are rotatably supported by the upper and lower bearings 16, and the pressure cylinder 14
A pressing roller 17 is installed which is driven by the motor and moves up and down together with the bearing table 15 and is pressed against the bending edge 3 of the work 1 to rotate about a rotation axis parallel to the horizontal axis a.
【００１５】押圧ローラ１７にはほぼ４５°のテーパ角
度で傾斜した円錐面状の外周面を有し、ワーク１の折り
曲げ縁３を内側へ約４５°曲げ変形させてプリヘミング
加工角度となる約４５°に第１段階で折り曲げるプリヘ
ミング加工用の第１加圧部１８と、円筒面状の外周面を
有し、プリヘミング加工済みのワーク１の折り曲げ縁３
をさらに約４５°内側へ曲げ変形させてヘミング加工角
度となる０°に第２段階で折り曲げ、ヘム部４を成形す
る第２加圧部１９とが軸方向に隣り合って形成されてい
る。The pressing roller 17 has a conical outer peripheral surface inclined at a taper angle of about 45 °, and the bending edge 3 of the work 1 is bent and deformed inward by about 45 ° to a pre-hemming processing angle. The first pressing portion 18 for pre-hemming processing that is bent at 45 ° in the first step, and the bending edge 3 of the pre-hemmed workpiece 1 that has a cylindrical outer peripheral surface
Is further bent inwardly by about 45 ° and is bent in the second stage to 0 ° which is the hemming angle, and the second pressing portion 19 for forming the hem portion 4 is formed adjacently in the axial direction.
【００１６】位置変えシリンダ１３のピストンロッド１
３ａが内方へ進動したときには受けローラ１２が押圧ロ
ーラ１７の第１加圧部１８の下方へ移動して第１加圧部
１８に対向する位置へ変位し、位置変えシリンダ１３の
ピストンロッド１３ａが外方へ退動したときには受けロ
ーラ１２が押圧ローラ１７の第２加圧部１９の下方へ移
動して第２加圧部１９に対向する位置へ変位する。Piston rod 1 of position changing cylinder 13
When 3a moves inward, the receiving roller 12 moves below the first pressing portion 18 of the pressing roller 17 and is displaced to a position facing the first pressing portion 18, and the piston rod of the position changing cylinder 13 is moved. When 13a retreats outward, the receiving roller 12 moves below the second pressing portion 19 of the pressing roller 17 and is displaced to a position facing the second pressing portion 19.
【００１７】ワーク１をヘミング加工するに際し、ワー
ク１がワーク受け６上にセットされ、位置変えシリンダ
１３のピストンロッド１３ａが内方へ進動して受けロー
ラ１２が押圧ローラの第１加圧部１８の下方へ変位し、
加圧シリンダ１４のピストンロッド１４ａが上方へ退動
して押圧ローラ１７が上昇し、ワーク１の端縁の一部が
受けローラ１２によって受け止められた状態で、加圧シ
リンダ１４のピストンロッド１４ａが下方へ進動して押
圧ローラ１７が下降する。押圧ローラ１７が下降する
と、ワーク１の折り曲げ縁３の一部が押圧ローラ１７の
第１加圧部１８によって斜め下方へ加圧されて内側へ約
４５°曲げ変形する。When the work 1 is hemmed, the work 1 is set on the work receiver 6, the piston rod 13a of the position changing cylinder 13 is moved inward, and the receiving roller 12 is the first pressing portion of the pressing roller. Displaced below 18,
With the piston rod 14a of the pressure cylinder 14 retracting upward, the pressing roller 17 rises and a part of the edge of the work 1 is received by the receiving roller 12, the piston rod 14a of the pressure cylinder 14 moves. The pressing roller 17 moves downward and descends. When the pressing roller 17 descends, a part of the bending edge 3 of the work 1 is pressed obliquely downward by the first pressing portion 18 of the pressing roller 17 and is bent and deformed inward by about 45 °.
【００１８】この状態で、ロボットハンド９が前記プロ
グラムに従って移動を開始し、ワーク１の端縁が両ロー
ラ１２，１７間に挟み込まれた状態で、押圧ローラ１７
の第１加圧部１８がワーク１の折り曲げ縁３に圧接して
転動し、折り曲げ縁３を順次下方へ押圧して第１加圧部
１８の外周面の形状通りに順次曲げ変形させながらワー
ク１の輪郭形状通りに移動し、ワーク１の折り曲げ縁３
が全周にわたって約４５°に折り曲げられてワーク１が
プリヘミング加工される。In this state, the robot hand 9 starts to move in accordance with the program, and the pressing roller 17 is held in a state where the edge of the work 1 is sandwiched between the rollers 12 and 17.
While the first pressurizing portion 18 is pressed against the bending edge 3 of the work 1 and rolls, the bending edge 3 is sequentially pressed downward to sequentially bend and deform in accordance with the shape of the outer peripheral surface of the first pressing portion 18. Move along the contour shape of work 1 and bend edge 3 of work 1
Is bent at about 45 ° over the entire circumference, and the work 1 is pre-hemmed.
【００１９】ワーク１のプリヘミング加工が終了する
と、加圧シリンダ１４のピストンロッド１４ａが上方へ
退動して押圧ローラ１７が上方へ退避し、位置変えシリ
ンダ１３のピストンロッド１３ａが外方へ退動して受け
ローラ１２が押圧ローラ１７の第２加圧部１９の下方へ
変位し、ロボットハンド９がワーク受け６側へ若干進動
してプリヘミング加工済みのワーク１の端縁の一部が受
けローラ１２によって受け止められて折り曲げ縁３の一
部が両ローラ１２，１７間に挿入される。When the pre-hemming process of the work 1 is completed, the piston rod 14a of the pressure cylinder 14 retreats upward, the pressing roller 17 retreats upward, and the piston rod 13a of the position changing cylinder 13 retreats outward. When the receiving roller 12 moves, the receiving roller 12 is displaced below the second pressurizing portion 19 of the pressing roller 17, and the robot hand 9 slightly moves toward the workpiece receiving 6 side, and a part of the edge of the pre-hemming processed workpiece 1. Is received by the receiving roller 12 and a part of the bent edge 3 is inserted between the rollers 12 and 17.
【００２０】この状態で、加圧シリンダ１４のピストン
ロッド１４ａが下方へ進動して押圧ローラ１７が下降す
る。押圧ローラ１７が下降すると、押圧ローラ１７の第
２加圧部１９がプリヘミング加工済みのワーク１の折り
曲げ縁３の一部を下方へ押圧し、折り曲げ縁３の一部が
さらに約４５°曲げ変形してワーク１のインナパネル１
ｂの周縁２上に重ね合わされる。In this state, the piston rod 14a of the pressure cylinder 14 moves downward and the pressing roller 17 descends. When the pressing roller 17 descends, the second pressing portion 19 of the pressing roller 17 presses a part of the bending edge 3 of the pre-hemmed workpiece 1 downward, and a part of the bending edge 3 is further bent about 45 °. Inner panel 1 of work 1 after deformation
It is superposed on the peripheral edge 2 of b.
【００２１】続いて、ロボットハンド９が前記プログラ
ムに従って移動を開始し、押圧ローラ１７の第２加圧部
１９がワーク１の折り曲げ縁３に圧接して転動し、約４
５°に曲げ変形した折り曲げ縁３を順次下方へ押圧して
折り上げ縁３が周縁２上に重ね合わされた状態となるま
で順次曲げ変形させながらワーク１の輪郭形状通りに移
動し、ワーク１の折り曲げ縁３が全周にわたってさらに
約４５°折り曲げられてワーク１の周縁部にはインナパ
ネル１ｂの周縁２を間に挟み込んだ状態で２つ折り状に
折り曲げられたヘム部４が成形される。Subsequently, the robot hand 9 starts to move according to the program, and the second pressing portion 19 of the pressing roller 17 presses against the bending edge 3 of the work 1 to roll, about 4 times.
The bending edge 3 that has been bent and deformed at 5 ° is sequentially pressed downward to sequentially bend and deform until the folded edge 3 is overlapped on the peripheral edge 2, and the workpiece 1 moves according to the contour shape of the work 1. The bending edge 3 is further bent by about 45 ° over the entire circumference, and a hem portion 4 folded in two is formed on the peripheral edge portion of the work 1 with the peripheral edge 2 of the inner panel 1b being sandwiched therebetween.
【００２２】続いて、上記した構成をもつ実施例の作用
と効果を説明する。本例ではワーク１の輪郭形状通りに
移動制御されるロボットマニュピレータ８の手首部８ａ
にはワーク１の端縁の下面に圧接して転動する受けロー
ラ１２と、ワーク１の折り曲げ縁３をプリヘミング加工
角度に曲げ変形させる第１加圧部１８およびプリヘミン
グ加工済みのワークの折り曲げ縁３をヘミング加工角度
に曲げ変形させる第２加圧部１９を有し、折り曲げ縁３
に圧接して転動する押圧ローラ１７と、受けローラ１２
を両加圧部１８、１９のうちの一方が受けローラ１２に
対向するように変位させる位置変えシリンダ１３と、押
圧ローラ１７を昇降させる加圧シリンダ１４とを備えた
ロボットハンド９を結合してある。Next, the operation and effect of the embodiment having the above configuration will be described. In this example, the wrist portion 8a of the robot manipulator 8 whose movement is controlled according to the contour shape of the workpiece 1
The receiving roller 12 that rolls in pressure contact with the lower surface of the end edge of the work 1, the first pressing portion 18 that bends and deforms the bending edge 3 of the work 1 to a pre-hemming processing angle, and the pre-hemming processed work. The bending edge 3 has a second pressing portion 19 for bending and deforming the bending edge 3 to a hemming angle.
The pressure roller 17 that is pressed against and rolls against the roller, and the receiving roller 12
A robot hand 9 having a position changing cylinder 13 for displacing one of the pressure units 18 and 19 so as to face the receiving roller 12 and a pressure cylinder 14 for moving the pressure roller 17 up and down are combined. is there.
【００２３】このため、ロボットマニュピレータ８のロ
ボットハンド９はワーク１の端縁を両ローラ１２，１７
によって挟圧して折り曲げ縁３を折り曲げながら移動
し、ワーク１の折り曲げ縁３を折り曲げる押圧力を受け
ローラ１２によって受け止めてロボットマニュピレータ
８の手首部８ａに対して押圧力を加えずにワーク１の折
り曲げ縁３を曲げ変形させることができ、ワーク１の折
り曲げ縁３を曲げ変形させるときにロボットマニュピレ
ータ８の手首部８ａに加わる負荷を低減させてワーク１
のプリヘミング加工およびヘミング加工を円滑に遂行す
ることができる。Therefore, the robot hand 9 of the robot manipulator 8 attaches the end edge of the work 1 to both rollers 12,17.
The work piece 1 is moved by bending while bending the bending edge 3 by pressing the work piece 1, and the work piece 1 is bent without being applied to the wrist portion 8a of the robot manipulator 8 by receiving the pressure force which is applied by the roller 12 to bend the work piece 1. The edge 3 can be bent and deformed, and when the bending edge 3 of the work 1 is bent and deformed, the load applied to the wrist portion 8a of the robot manipulator 8 is reduced and the work 1
The pre-hemming process and the hemming process can be smoothly performed.
【００２４】従って、ロボットマニュピレータ８の手首
部にガタツキが起生して加工精度が低下する不具合を解
消することができ、製品の加工精度および製品の品質を
向上させることができる。また、プレス機によるヘミン
グ加工に比してヘミング加工工程の生産性を向上させて
ヘミング加工装置の汎用性を高めることができる。Therefore, it is possible to solve the problem that the rattling of the robot manipulator 8 causes rattling and the processing accuracy is lowered, and the processing accuracy of the product and the quality of the product can be improved. Further, it is possible to improve the productivity of the hemming process and improve the versatility of the hemming device as compared with the hemming process using a press machine.
【図１】本発明の１実施例を示すヘミング加工装置の側
面図である。FIG. 1 is a side view of a hemming processing apparatus showing an embodiment of the present invention.
【図２】ワークの折り曲げ態様を説明するワークの要部
の断面図である。FIG. 2 is a cross-sectional view of a main part of a work for explaining a bending mode of the work.
【図３】プリヘミング加工過程を示すロボットハンドの
側面図である。FIG. 3 is a side view of the robot hand showing a pre-hemming process.
【図４】ヘミング加工過程を示すロボットハンドの側面
図である。FIG. 4 is a side view of the robot hand showing a hemming process.
【図５】従来のヘミング加工方法を示すプレス機の正面
図である。FIG. 5 is a front view of a pressing machine showing a conventional hemming method.
【図６】従来のヘミング加工方法を示すヘミング加工装
置の要部の側面図である。FIG. 6 is a side view of a main part of a hemming processing apparatus showing a conventional hemming processing method.
１ ワーク ３ 折り曲げ縁 ８ ロボットマニュピレータ ９ ロボットハンド １２ 受けローラ １３ 位置変えシリンダ １４ 加圧シリンダ １７ 押圧ローラ １８ 第１加圧部 １９ 第２加圧部 1 Work 3 Bending Edge 8 Robot Manipulator 9 Robot Hand 12 Receiving Roller 13 Position Changing Cylinder 14 Pressurizing Cylinder 17 Pressing Roller 18 First Pressing Unit 19 Second Pressing Unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 田中 英幸 愛知県岡崎市大和町家下38番地 株式会社 エムイージー内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hideyuki Tanaka 38, Yamashita, Yamato-cho, Okazaki City, Aichi Prefecture
Claims (1)
ロボットマニュピレータの手首部にはワークの端縁の下
面に圧接して転動する受けローラと、ワークの折り曲げ
縁をプリヘミング加工角度に曲げ変形させる第１加圧部
およびプリヘミング加工済みのワークの折り曲げ縁をヘ
ミング加工角度に曲げ変形させる第２加圧部を有し、前
記折り曲げ縁に圧接して転動する押圧ローラと、前記受
けローラと前記押圧ローラとの相対位置を前記両加圧部
のうちの一方が前記受けローラに対向するように変位さ
せる位置変えシリンダと、前記押圧ローラを昇降させる
加圧シリンダとを結合したヘミング加工装置。1. A wrist roller of a robot manipulator controlled to move in accordance with the contour shape of a work, a receiving roller rolling in pressure contact with the lower surface of the end edge of the work, and a bending edge of the work bent at a pre-hemming angle. A first pressure part for deforming and a second pressure part for bending and deforming a bending edge of a pre-hemmed workpiece to a hemming angle, and a pressing roller rolling in pressure contact with the bending edge, and the receiving part. A hemming process in which a position changing cylinder for displacing the relative position of the roller and the pressing roller so that one of the two pressing portions faces the receiving roller and a pressing cylinder for moving the pressing roller up and down are combined. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19357593A JPH0760370A (en) | 1993-08-04 | 1993-08-04 | Hemming device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19357593A JPH0760370A (en) | 1993-08-04 | 1993-08-04 | Hemming device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0760370A true JPH0760370A (en) | 1995-03-07 |
Family
ID=16310290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19357593A Pending JPH0760370A (en) | 1993-08-04 | 1993-08-04 | Hemming device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0760370A (en) |
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|---|---|---|---|---|
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| US6672121B2 (en) * | 2002-04-15 | 2004-01-06 | General Motors Corporation | Flat pinch hemming of aluminum panels |
| EP1447155A1 (en) * | 2003-01-20 | 2004-08-18 | COMAU SpA | Roller-type hemming tool and method for performing a hemming operation |
| US6810707B2 (en) | 2002-05-10 | 2004-11-02 | Ford Motor Company | Compressed-radius hem-forming process and tool |
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| WO2006117896A1 (en) * | 2005-04-27 | 2006-11-09 | Honda Motor Co., Ltd. | Roll hemming method and roll hemming apparatus |
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-
1993
- 1993-08-04 JP JP19357593A patent/JPH0760370A/en active Pending
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| US6672121B2 (en) * | 2002-04-15 | 2004-01-06 | General Motors Corporation | Flat pinch hemming of aluminum panels |
| US6810707B2 (en) | 2002-05-10 | 2004-11-02 | Ford Motor Company | Compressed-radius hem-forming process and tool |
| EP1447155A1 (en) * | 2003-01-20 | 2004-08-18 | COMAU SpA | Roller-type hemming tool and method for performing a hemming operation |
| KR100514376B1 (en) * | 2003-10-22 | 2005-09-13 | 기아자동차주식회사 | A hemming device of panels |
| JP2005349471A (en) * | 2004-05-11 | 2005-12-22 | Honda Motor Co Ltd | Method for roll hemming and its apparatus |
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| US20160136709A1 (en) * | 2014-11-14 | 2016-05-19 | Ferrobotics Compliant Robot Technology Gmbh | Apparatus and Method for Robotic Roller Hemming |
| CN105598226A (en) * | 2014-11-14 | 2016-05-25 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Apparatus and method for robotic roller hemming |
| JP2016117095A (en) * | 2014-11-14 | 2016-06-30 | フェルロボティクス コンプライアント ロボット テクノロジー ゲーエムベーハーＦｅｒｒｏｂｏｔｉｃｓ Ｃｏｍｐｌｉａｎｔ Ｒｏｂｏｔ Ｔｅｃｈｎｏｌｏｇｙ ＧｍｂＨ | Robot roller hemming device and method |
| CN105598226B (en) * | 2014-11-14 | 2019-04-19 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Robot binding device and method |
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