KR20120000454A

KR20120000454A - Robot roller hemming apparatus

Info

Publication number: KR20120000454A
Application number: KR1020100060823A
Authority: KR
Inventors: 이윤희
Original assignee: 현대자동차주식회사
Priority date: 2010-06-25
Filing date: 2010-06-25
Publication date: 2012-01-02

Abstract

PURPOSE: A robot roller hemming device is provided to hamming-combine a ring shape part to a hole of a panel by hamming-processing a flange part of a hole by using a hamming roller. CONSTITUTION: A robot roller hemming device comprises a jig device(210), a rail die(230), a turntable device(240), a robot device for hemming(250), hemming head(260) and a controller. The jig device temporarily fixes a ring part on the task predetermined position of the hole site while supporting a panel. When the rail die is fixed to the panel using the jig device, it is integrated with a guide rail arranged along the hole site. The jig device is installed in a turntable device. The turntable device rotates the jig device whole. The robot device for hemming controls the positioning and posture of a hemming head. The hemming head comprises a guide roller and a hemming roller. The guide roller is installed in an arm leading the end part of the robot device for hemming. When the jig device and the panel fixed to the jig device revolves, the guide roller is guided according to the guide rail. The controller controls the jig device and the turntable device and the drive of the robot device.

Description

Robot roller hemming apparatus

The present invention relates to a hemming device, and more particularly, a hemming roller is inserted into a narrow space of a hole formed in a panel, thereby more stably hemming the inner circumferential flange portion of the hole so that a specific part can be hemmed to the hole of the panel. It relates to a robot roller hemming device.

In the method of making a body (BIW) in a body shop, a hemming technique for bending two panels together is widely used for joining two panels, which are mainly used in areas where welding is difficult due to the appearance or shape of the body. .

Recently, in order to improve the functionality and quality of the vehicle body, the application area of hemming (hemming) technology is gradually increasing.

FIG. 1 is a diagram illustrating a part to which a hemming technique is applied in a conventional vehicle body manufacturing process, and FIG. 2 is a cross-sectional view illustrating a hemming joining method.

As shown in FIG. 1, a hemming technique is applied to a plurality of body panels in a process of manufacturing a body. In the hemming joining method, as shown in FIG. 2, an outer panel and an inner panel are set in a machining position, and then a hemming device is used. Then, the flange portion of the outer panel is folded over the inner panel at a constant pressure to be joined.

There are various methods of applying such a hemming technology to a body mass production line, such as using a hydraulic hemming press or a top table clamp hemming. For this reason, the application of robot roller hemming systems is increasing.

Since the conventional robot roller hemming device is composed of a robot, hemming roller, hemming die, turntable, etc., its configuration is very simple, and the system can be simplified.When changing the model, only the hemming die is changed or added, and then the robot's work path ( It is very easy to cope with multi-vehicles because of the re-teaching path and the investment cost is low.

In such a robot roller hemming device, the hemming quality depends on how accurately the robot moves the hemming roller along the hemming work path and maintains the pressure direction and pressing force of the roller uniformly.

If the robot and hemming rollers do not operate correctly along the hemming path, panel bending, wrinkling or external bending may occur.

3 is a process state diagram of a hemming operation using a robot roller hemming device according to the prior art, wherein the roller hemming device 100 is a hemming roller 113 mounted at the tip of an arm 103 of a robot 101 made of a multi-joint arm. Is moved along the edges of the inner panel 107 and the outer panel 109 on the hemming die 105 by the operation of the robot 101, while the flange F portion of the outer panel 109 is moved to the inner panel 107. Fold to the edge of) to hemming.

The hemming roller 113 is the tip of the arm 103 of the robot 101 moving along the style line of the hemming die 105 (ie, the edge line of the panel) supporting the inner panel 107 and the outer panel 109. It is attached to the (hemming head) and configured.

In order to hemm the inner panel 107 and the outer panel 109 using the roller hemming device 100 described above, first, the inner panel 107 and the outer panel 109 are seated on the hemming die 105. These are clamped through a clamping unit (not shown).

Subsequently, while the operation of the robot 101 is controlled by the robot control panel 300 for each molded article, the hemming roller 113 mounted at the tip of the arm 103 of the robot 101 has an inner panel according to the set angle of the robot 101. 107 and the outer panel 109 are moved along the edges, and the hemming roller 113 compresses the flange F portion of the outer panel 109 to complete the hemming molding.

4 is a step-by-step illustration of the state where the hemming bonding between the two panels (107,109) is made while the hemming roller compresses the flange (F) portion of the outer panel 109, the hemming roller 113 is usually 2-3 times Pressing and moving completes the hemming.

However, in the hemming device as described above, while the robot moves the hemming roller along the trajectory of the straight line or the curve formed by the edge of the panel, the robot folds the flange portion of one panel to the edge portion of the other panel to hemming. It is true that work is limited about the hemming process of the hole 2 part of the panel 1 as shown in FIG.

That is, in a conventional roller hemming device comprising a panel and a hemming roller configured to move along an edge portion of the panel, the robot is put along the hole edge portion by putting the hemming roller inside the small hole 2 portion of the panel 1 by the robot. It is difficult to work with hemming by moving it correctly.

For example, in a case where a specific part is mounted in the hole part, in order to fix the specific part inside the hole 2 part of the panel 1, the hemming roller moves precisely through the flange part that forms the inner peripheral edge part of the hole part. The work of bending to the contact surface of the part is required, but conventional hemming rollers are not suitable for use in such work.

In order to fix a specific part to the inner circumference of the hole part of the panel through the hemming process, the hemming roller must be moved along the edge of the inner side of the narrow hole part. It is necessary to apply a certain pressure at the same time to be pressed into a component, but the conventional hemming roller is not suitable because there is a space constraint to move inside the small hole portion of the panel.

In particular, since the conventional hemming roller and the robot for moving it are not limited in space to hemm the flange portion of the outer panel, a hemming roller having a large diameter and width is used. It is not applicable because it is limited in space.

Furthermore, even when guiding accurate hemming paths, it is possible to guide only the robot teaching in the flange portion of the outer panel, but it is impossible to apply a conventional hemming device because it is difficult to guide the hemming roller only by robot teaching in the narrow space of the hole area. .

Accordingly, there is a need for the development of an advanced robot roller hemming device capable of providing an optimal hemming quality for joining a specific part of a hole part edge of a panel.

Therefore, the present invention has been invented to solve the above problems, by inserting a hemming roller into the narrow space of the hole formed in the panel to hemming the inner circumferential flange portion of the hole more stably to the specific part of the hole of the panel It is an object of the present invention to provide a robot roller hemming device that can be hemmed.

In order to achieve the above object, the present invention is a hemming device for pressing the inner circumferential flange portion of the hole formed in the panel to the inner surface of the ring-shaped component to hemming the ring-shaped component to the hole portion of the panel, wherein the panel is fixedly supported. And jig device for temporarily fixing the ring-shaped parts in the working position of the hole portion; A rail die integrally formed with a guide rail disposed along the hole portion in a state of being pressed and fixed together with the panel by the jig device; A turntable device on which the jig device is mounted and provided to rotate the entire jig device; A hemming robot mechanism for controlling the positional movement and posture of the hemming head; A guide roller mounted along the arm tip of the robot mechanism and guided along the guide rail at the time of rotation of the jig device and the panel fixed thereto, and moving along the hemming path together with the guide roller, A hemming head having a hemming roller which presses against the inner side of the ring-shaped part and hemmes and joins; It provides a robot roller hemming device comprising a; jig device, turntable device, a control unit for controlling the driving of the robot mechanism.

In a preferred embodiment, the jig device comprises: a base coupled to the turntable device to be rotated by a turntable device; A support fixed to the base; A hemming die which is supported by the support and is loaded to support the panel on the upper side while fixing the ring-shaped component in a working position; And a clamp mechanism for pressing and fixing the hemming die, the panel, and the rail die loaded on the panel so as to be integrated on the base during processing.

Here, the hemming die, the lower fixed hemming die fixed to the support, the lower portion of the ring-shaped component is inserted into the lower groove is inserted into the mounting groove is fixed to the lower portion of the ring-shaped component inserted into the mounting groove; An upper fixed hemming die assembled to an upper side of the lower fixed hemming die and having a fixing hole into which an upper portion of the ring-shaped component is inserted to fix an upper portion of the ring-shaped component inserted into the fixing hole, and having a panel seated thereon; It is characterized by including.

In addition, the bottom of the seating groove portion is characterized in that the tooling pin is inserted into the hole of the ring-shaped sub-form is formed to protrude upward.

The clamp mechanism further includes: a bracket provided on the base; A rotatable clamping arm which is rotatably mounted to the bracket, and which has a front end portion fixed to press the upper surface of the rail die during the rotation; And a cylinder mechanism installed on the base and coupled to the rear end of the clamping arm to rotate the clamping arm.

In addition, the bracket is characterized in that the tooling pin is installed to extend the length is further inserted into the hole formed separately in the panel to further secure the panel.

In addition, the rail die has a structure in which a through hole into which the hemming roller is inserted is formed, and a guide rail protrudes upward along the periphery of the through hole. The through hole is a hole in the panel when the rail die is pressed against the panel. It is characterized in that it has a position and size to expose the inner circumferential flange portion.

In addition, the guide rail is characterized in that the guide groove in which the guide roller is inserted is guided along the outer peripheral surface is formed long.

The hemming head may further include: a robot mounting adapter which is a portion that is coupled to an arm tip of the robot mechanism; A first cylinder mechanism mounted to the adapter and controlled to be driven by a controller; A moving block mounted to a piston rod end of the first cylinder mechanism; A first roller bracket integrally formed with the moving block; A second cylinder mechanism fixedly mounted to the moving block and controlled to be driven by a controller; A second roller bracket mounted to a piston rod end of the second cylinder mechanism; Further provided, the first roller bracket is characterized in that the guide roller, the second roller bracket hemming roller is mounted.

Here, the first cylinder mechanism integrates the guide roller and the hemming roller at the hemming head so that the guide roller is guided while maintaining the engagement state with the guide rail and the hemming roller is moved to press the flange portion of the inner circumference of the panel. And the second cylinder mechanism horizontally moves the hemming roller so as to be position-controlled in the direction in which the hemming head presses the inner circumferential flange portion of the panel and vice versa.

Accordingly, according to the robot roller hemming apparatus according to the present invention, the hemming roller can be stably hemmed with respect to the flange portion of the hole formed in the panel while the guide roller moves along the guide rail of the rail die. There is an effect that can hemming the parts.

1 is a diagram illustrating a portion to which a hemming technique is applied in a conventional vehicle body manufacturing process.
It is sectional drawing explaining a hemming joining method.
3 is a process state diagram of a hemming operation using a robot roller hemming device according to the prior art.
4 is a diagram exemplarily illustrating a state where a hemming bond between an outer panel and an inner panel is made while a conventional hemming roller compresses a flange portion.
5 is a view for explaining the problem of the hemming apparatus according to the prior art.
6 is a reference diagram illustrating a mounting state of a conventional external fixed rear camera.
7 is a reference diagram illustrating a mounting state of the electric moving type rear camera.
8 and 9 are views showing that a hole is formed in the outer panel of the trunk lid assembly, and the camera mounting mount is coupled to the hole by a hemming joint.
10 is a cross-sectional view showing a state in which the hole inner peripheral flange portion of the outer panel is hemmed with the mount by the robot roller hemming device of the present invention.
11 is a perspective view showing the configuration of the robot roller hemming device according to the present invention.
12 is a perspective view showing the main configuration of the robot roller hemming device according to the present invention.
13 is a perspective view showing the configuration of a hemming head in the robot roller hemming device according to the present invention.
14 is a side view for explaining an operating state of the hemming head in the robot roller hemming device according to the present invention.
15 is a perspective view of the lower mount fixed hemming die in the robot roller hemming device according to the present invention.
16 is a perspective view illustrating a tooling pin for fixing the trunk lid outer panel in the robot roller hemming device according to the present invention.
17 is a perspective view illustrating a grooved guide rail for guiding an accurate hemming path in the robot roller hemming device according to the present invention.
18 is a cross-sectional view showing a guide roller and a hemming roller accurately guided by a grooved guide rail and a hemming processing state in the robot roller hemming device according to the present invention.
19 and 20 are process state diagrams of the hemming operation using the robot roller hemming device according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains.

The robot roller hemming device according to the present invention is configured to be usefully used to join and fix a specific part to a small hole of a panel through a hemming process, and can be usefully used as a flange hemming device for mounting a moving type rear camera, for example. It is.

First, before describing the configuration of the robot roller hemming device according to the present invention, a moving type rear camera for a vehicle and its mounting structure will be described.

First, recently, a rear camera for capturing an image of the rear of a vehicle is widely mounted on a vehicle, and the rear camera for a vehicle is generally installed on the rear of a vehicle body, especially a trunk lid.

At this time, the external fixed rear camera is installed to protrude to the trunk lid (1a), as shown in Figure 6, this mounting method is simple in structure, but the rear camera 4 is always fixed fixedly protruding structure, which is not good in appearance, It has a disadvantage that the rear camera 4 is always exposed to the external environment (possible camera damage).

On the other hand, as shown in FIG. 7, an electric moving type structure in which the rear camera 4 is concealed by the vehicle manufacturer's unique emblem 5 attached to the rear of the vehicle, such as the trunk lid 1a or the tail gate, is applied in some vehicle manufacturers. In this configuration, the rear camera 4 is moved backwards and protrudes by a motor (not shown) that operates when the vehicle reverses. At this time, the rear camera 4 is moved backwards and the emblem 5 is pushed to push the emblem 5. As the bar is rotated, the emblem is rotated so that the rear camera is exposed to photograph the rear of the vehicle.

In the electric moving type rear camera method, since the rear camera is concealed inside the emblem when driving or stopping, there is an advantage that the rear camera can be protected from the external environment without causing an appearance problem.

As described above, in the mounting structure of the electric moving type rear camera, a specific part for fixing the camera assembly to the vehicle body is used separately from the moving type rear camera. As the camera assembly is coupled to the specific part, the body side panel, that is, the trunk lid, is used. A camera mounting mount is used, which is joined by a hemming bond to a hole formed in the outer panel of the.

The camera mounting mount is a ring-shaped part that is fixed to a hole of the outer panel to support the camera assembly, wherein the hole of the outer panel is a portion in which the cover is positioned and moves to the rear while the rear camera assembled as a moving type in the camera assembly moves. It becomes the exposed part.

8 and 9 are views showing that a hole 2 is formed in the outer panel 1b of the trunk lid assembly, and that the camera mounting mount 11 is coupled to the hole 2 by a hemming joint. A hole 2 formed in the panel 1b, a mount 11 hemmed to the hole 2, a camera assembly 10 coupled to and mounted to the mount 11, and installed to open and close the hole A cover (emblem) 5 or the like is shown to conceal the rear camera 4 inside thereof.

Referring to FIG. 8, a ring-shaped camera mounting mount 11 coupled to a fixed portion of the camera assembly 10 is illustrated, and the camera mounting mount 11 is coupled to the camera assembly 10. The furnace itself is fixedly coupled to the body panel, ie the hole 2 of the outer panel 1b of the trunk lid.

In joining the mount 11, as shown in Fig. 9, a hemming connection between the hole 2 formed in the outer panel 1b of the trunk lid and the camera mounting mount 11 fixed inside the outer panel is required. .

In particular, the robot roller hemming apparatus of the present invention can be used to fold and engage the inner peripheral edge flange F of the hole 2 of the outer panel 1b so as to be in close contact with the inner surface of the mount 11. It is sectional drawing which shows the state which the part of the inner periphery flange F of the hole 2 of the outer panel 1b is hemmed-bonded with the mount 11 by the robot roller hemming apparatus of this invention.

10 shows before and after hemming, and shows that the inner circumferential flange portion of the hole 2 formed in the outer panel 1b is bent to the inner surface of the mount 11 by the hemming process.

Hereinafter, the robot roller hemming apparatus of the present invention that can be used in the hemming of the hole portion as described above will be described in detail with reference to the following drawings.

11 is a perspective view showing the configuration of the robot roller hemming device according to the present invention, Figure 12 is a perspective view showing the main configuration of the robot roller hemming device according to the present invention.

In addition, Figure 13 is a perspective view showing the configuration of the hemming head in the robot roller hemming apparatus according to the present invention, Figure 14 is a side view for explaining the operation state of the hemming head in the robot roller hemming apparatus according to the present invention.

In addition, Figure 15 is a perspective view of the lower mount fixed hemming die in the robot roller hemming device according to the present invention, Figure 16 is a perspective view showing a tooling pin for fixing the trunk lead outer panel in the robot roller hemming device according to the present invention 17 is a perspective view illustrating a grooved guide rail of a rail die for guiding an accurate hemming path in the robot roller hemming device according to the present invention.

18 is a cross-sectional view showing a guide roller and a hemming roller accurately guided by a grooved guide rail and a hemming processing state in the robot roller hemming device according to the present invention.

19 and 20 are process state diagrams of the hemming operation using the robot roller hemming device according to the present invention, and FIG. 19 is a view showing the loading order of each part, the mount, and the panel (trunk lead outer panel) of the hemming device. 20 is a diagram illustrating a hemming work sequence.

Robot roller hemming device 200 according to the present invention is a device that can be used to hemming bonded parts having a ring shape, such as a camera mounting mount to a hole formed in the panel, hereinafter hemming bonded to the hole portion of the panel Since the camera mounting mount has a ring shape, it will be collectively referred to as a ring-shaped part.

In addition, the hemming device of the present invention for hemming the hole inner flange portion of the panel is not limited to the use for hemming the camera mounting mount to the hole of the outer panel of the trunk lid. It can be widely used for the purpose of hemming which is folded and crimped into a specific part supported by the.

First, as shown, the robot roller hemming device 200 according to the present invention by pressing the inner peripheral flange (F) portion of the hole (2) formed in the panel 1 to the inner surface of the ring-shaped component (5) to the ring-shaped A hemming device for hemming a part to a hole part of a panel, the jig device for temporarily fixing the ring-shaped part 5 at a work position of a hole 2 part which is a hemming part while fixing and holding the panel 1 ( 210; The rail die 230 is integrally formed with a guide rail 232 which is assembled to the upper side of the panel 1 and disposed along the hole 2 in a state of being pressed and fixed together with the panel 1 by the jig device 210. )Wow; A turntable device (240) mounted with the jig device (210) and provided to rotate the entire jig device (210); Hemming articulated robot mechanism 250; A guide roller 265 mounted at the tip of the arm 251 of the robot mechanism 250 and guided along the guide rail 232 when the jig device 210 rotates, and a hemming path together with the guide roller 265. A hemming head 260 having a hemming roller 268 for hemming by pressing and folding the hole inner circumferential flange F of the panel 1 with the ring-shaped part 5 while being integrally moved along; A control unit (not shown) for controlling the driving of the jig device 210, the turntable device 240, and the robot mechanism 250 has a main configuration.

In the above configuration, the jig device 210 will be described first, which is a component that fixes and supports the panel 1, which is the object of hemming, and the ring-shaped part 5 which is hemmed to it during processing, wherein the turntable device ( A base 211 coupled to 240 and provided to be rotated by the turntable device 240; A support 212 fixedly installed at a predetermined height on the base 211; A hemming die 213 installed to be supported by the support 212 and loaded to support the panel 1 upward while fixing the ring-shaped part 5 at a work position; And a clamp mechanism 216 for pressing and fixing the hemming die 213 and the panel 1 and the rail die 230 loaded in the panel 1 to be integrated on the base 211 during processing.

Here, the hemming die 213 is fixedly installed on the support 212 and the lower fixed hemming die 214 for fixing the lower portion of the ring-shaped component in a state where the lower portion of the ring-shaped component 5 is seated; It is composed of an upper fixed hemming die 215 which is assembled to the upper side of the lower fixed hemming die 214 and on which the panel 1 is seated on the upper side while fixing the upper portion of the ring-shaped part 5.

In the configuration of the jig device 210 described above, the base 211 includes a support 212, upper and lower fixed hemming dies 214 and 215, a rail die 230, a ring-shaped part 5, a panel 1, a clamp mechanism. A lower component supporting the 216, in particular, is coupled to the upper side of the turntable device 240 so as to be rotated by the drive of the turntable device during processing.

As the base 211 is rotated by the turntable device 240, all the components supported on the base are rotated integrally, in particular, the clamping mechanism is crimped and clamped through the rail die 230 by the clamp mechanism 216. The panel 1 can be integrally rotated with the support 212 on the base 211, the hemming die 213, the ring-shaped part 5 fixed to the hemming die, and the rail die 230.

As a result, the ring-shaped part 5 and the panel 1 are integrally rotated by the rotation of the base 211 driven by the turntable device 240 during the hemming process, and thus the machining is performed by the hemming roller 268.

In addition, the support 212 is a component for fixing the lower fixed hemming die 214 to be located at a predetermined height, the lower fixed hemming die 214 is installed in a state supported by the support 212 is a support ( 212 is integrally coupled to the base 211, and in the center of the lower fixed hemming die 214, in the state where the work hole 214a is formed, around the work hole 214a. 5) has a structure in which a seating groove portion 214b is inserted and seated (see FIGS. 15 and 19).

The work hole 214a is a portion forming a work space of the hemming roller 268, and is formed at the center of the lower fixed hemming die 214 to be loaded above the rail die 230 as described later. It is formed in a position where it can coincide with the hole 2, and is formed to a size into which the hemming roller 268 under processing can be inserted, which is larger than the diameter of the hole 2 of the panel 1, and the ring-shaped part 5. The inner diameter of) may be formed to a diameter size that approximately matches.

In addition, the seating groove 214b formed around the work hole 214a is formed in a shape that matches the shape of the ring-shaped component so that the lower portion of the ring-shaped component 5 can be inserted and seated, and the bottom of the seating recess 214b. It becomes a support surface which supports this ring-shaped component 5.

In the upper surface of the lower fixed hemming die 214, the central portion including the work hole 214a and its peripheral area may be formed in a structure having a step projecting upward at a predetermined height with respect to the sides of both sides thereof, The upper surface of both sides having a step toward the lower side, which is separated from the upper side, becomes a supporting surface joined to the lower surface of the upper fixed hemming die 215 as described later.

In a preferred embodiment, the bottom of the seating groove 214b on which the ring-shaped part 5 is supported protrudes a tooling pin 214c inserted into the hole of the ring-shaped part 5 (denoted by 5a in FIG. 8), The tooling pins 214c serve to hold the ring-shaped components in a state of being inserted into the holes 5a of the ring-shaped components 5 during processing.

The upper fixed hemming die 215 is a component for fixing an upper portion of the ring-shaped part protruding upward from the seating groove part in a state in which the ring-shaped part 5 is inserted into the seating groove 214b of the lower fixed hemming die 214. Has a structure in which a fixing hole 215a is formed to which the upper portion of the ring-shaped component is fitted and fixed (see FIG. 19).

The upper fixed hemming die 215 is stacked and loaded on the upper side of the lower fixed hemming die 214. In the preferred embodiment, the upper fixed hemming die 215 may have a split structure in which left and right sides are separated from each other around the fixing hole 215a.

The upper fixed hemming die 215 divided into both sides is fitted with the upper portion of the ring-shaped part 5 in the fixing hole 215a while the ring-shaped part 5 is seated in the seating groove 214b of the lower fixed hemming die 214. To the top of the ring component in both directions.

At this time, the lower surface of the upper fixed hemming die 215 has a step in the shape corresponding to the center portion of the lower fixed hemming die 214 is projected upward, matching the central portion of the lower fixed hemming die 214 The central portion of the upper fixed hemming die 215 is formed in a thin thickness, but the sides of both sides except the central portion is formed relatively thick, the central portion of the upper fixed hemming die 215 is the lower fixed hemming die 214 It has a groove structure that can be fitted to the center of the groove.

That is, the lower surface of the upper fixed hemming die 215 has a groove structure in which the center part is recessed.

Accordingly, the upper fixed hemming die 215 divided into two sides is slid toward the center from the side of the lower fixed hemming die 214 so as to be coupled at both sides to the upper portion of the ring-shaped component. Once the 215 is engaged, the ring-shaped part 5 can be fixed in place.

In particular, the panel 1 is loaded above the upper fixed hemming die 215, and the rail die 230 is loaded above the panel, and the upper surface of the rail die 230 is clamped 216 by the lower side. By pressing, the rail die 230 and the panel 1 and the upper and lower fixed hemming dies 214 and 215 are integrally fixed, so that the ring-shaped part 5 fixed by the hemming die 213 can be stably fixed. .

The clamp mechanism 216 is installed on the base 211 and presses and fixes the rail die 230 stacked on the panel 1 to the upper side downward to fix the rail die 230 and the hemming die 213 (upper and Lower fixed hemming die), the panel (1), the component to secure the entire ring-shaped component (5) integrally, the rail die 230, hemming die 213, panel (1), ring-shaped component (5) during processing While fixing the whole so as not to move on the base 211 serves to fix so that they can be rotated integrally with the base 211.

A plurality of clamping mechanisms 216 may be installed on the base 211, and the bracket 217 installed on the base 211 and the bracket 217 are rotatably installed, and the end portion of the clamp mechanism 216 is rotated when the rail die is rotated. And a rotational clamping arm 218 for pressing and fixing the upper surface of 230 and an actuator 219 for rotating the clamping arm 218.

The bracket 217 is installed in an upright structure having a predetermined height on the base 211, and the rotational clamping arm 218 is rotatably coupled to the upper end of the bracket 217, and the clamping arm 218 is provided. An actuator 219 is coupled to the rear end of the actuator.

The actuator 219 may be a pneumatic or hydraulically actuated cylinder mechanism installed on the base 211, where the clamping arm 218 is provided at the upper end of the piston rod operated forward and backward of the cylinder mechanism 219. The rear end of is connected.

At this time, the front end portion of the clamping arm 218 presses and presses the upper surface of the rail die 230. When the piston rod of the cylinder mechanism 219 moves forward and the clamping arm 218 is rotated, the clamping arm 218 is rotated. The front end of the) is directly pressed to the upper surface of the rail die 230, thereby fixing the panel 1 by the rail die 230, the machining can be made in a state fixed.

In a preferred embodiment, it is possible to apply a separate tooling pin 221 which is fixed directly to the panel 1 apart from the clamping arm 218 of the clamp mechanism 216 (see FIG. 16), wherein the tooling pin 221 is installed so that the panel 1 can be inserted into the hole 6 formed in the panel 1 when the panel 1 is loaded onto the upper fixed hemming die 215.

The tooling pins 221 are vertically installed to extend upwardly to the bracket 217 in which the rotational clamping arm 218 is installed. When the panel 1 is loaded above the upper fixed hemming die 215, the tooling pins 221 The front end portion of the 221 is inserted into the hole 6 formed in the panel 1 to be coupled to the panel 1.

On the other hand, the rail die 230 is a component that is raised to the upper side of the panel 1 raised above the upper fixed hemming die 215, the through hole 231 is inserted into the hemming roller 268 for processing in the center portion The through-hole 231 is formed at a position that can coincide with the fixing hole 215a of the upper fixed hemming die 215, and has a diameter approximately equal to the diameter of the fixing hole of the upper fixed hemming die. In particular, the rail die 230 has a position and size to expose the portion of the inner circumference flange F of the panel while the rail die 230 is pressed against the panel 1.

The guide rail 232 is formed to protrude upward along the periphery of the through hole 231 of the rail die 230, and a guide groove 233 having a substantially V-shaped cross-section along the outer circumferential surface of the guide rail 232. It is formed long (see Fig. 17).

The guide groove 233 is a groove in which the guide roller 265 installed in the hemming head 260 is inserted and guided. The guide groove 233 guides an accurate hemming path, and the shape of the periphery of the guide roller 265 is the guide groove 233. The guide roller 265 is stably guided along the guide groove 233 so as to have a shape protruding in a substantially V-shaped cross section so as to be inserted into the guide.

The turntable device 240 is a component that rotates the entire jig device 210 by coupling the base 211 of the jig device 210 to the upper side, the rotation drive is controlled under the control of the controller, the base coupled to the upper side By rotating the 211, the jig device 210, the panel 1 and the ring-shaped part 5 mounted thereon are rotated integrally.

Although the actuator for the rotation of the turntable device 240 is not shown in the drawing, as the actuator for the rotational drive of the turntable device 240, a motor controlled by a control unit may be used. Since the device is widely used industrially, a detailed description thereof will be omitted.

Next, the articulated robot mechanism 250 is a component part employed in a conventional robot roller hemming device, and thus, detailed description thereof will be omitted. However, the tip of the arm 251 has a guide roller 265 and a hemming roller ( The hemming head 260 in which the 268 is installed is mounted, and the position of the hemming head 260 mounted on the tip of the arm 251 is adjusted while the driving of the robot mechanism 250 is controlled under the control of the controller.

In the present invention, the hemming head 260 has a guide roller 265 guided in a coupled state with the guide rail 232 of the rail die 230, and is fixed upward through the through hole 231 of the rail die 230. A hemming roller 268 is inserted into the fixing hole 215a of the hemming die 215 and inserted into the ring-shaped part 5 to press the hemming inner flange F of the panel 1 to hemming.

In a preferred embodiment, the hemming head 260 is a robot mounting adapter 261, which is a portion that engages with the tip of the arm 251 of the robotic mechanism 250, a pneumatic or hydraulically actuated body mounted to the adapter 261. A first cylinder mechanism 262, a moving block 263 mounted to the piston rod end of the first cylinder mechanism 262, a first roller bracket 264 integrally formed on the moving block 263, the moving block ( Pneumatic or hydraulically actuated second cylinder mechanism 266 fixedly mounted to 263, guide roller 265 rotatably mounted to the first roller bracket 264, piston of the second cylinder mechanism 266 The main structure is the second roller bracket 267 attached to the rod tip and the hemming roller 268 rotatably mounted to the second roller bracket 267.

Here, the first cylinder mechanism 262 allows the guide roller 265 to be guided while maintaining the engagement state with the guide rail 232, and the hemming roller 268 is the inner circumferential flange F of the panel 1. The guide roller 265 and the hemming roller 268 are vertically moved up and down in the hemming head 260 so as to move in a state of pressurizing a portion, and the second cylinder mechanism 266 moves the panel 1 in the hemming head 260. The hemming roller 268 is horizontally moved to control the position in the direction in which the hole inner circumferential flange (F) of the) and the opposite direction.

The configuration of the hemming head 260 will be described in more detail. First, the first cylinder mechanism 262 adjusts the vertical position by moving the guide roller 265 and the hemming roller 268 up and down in the hemming head 260. As an actuator for carrying out, it has a piston rod which is moved back and forth vertically, and the movable block 263 is fixedly mounted to the front end of this piston rod.

In addition, the second cylinder mechanism 266 is an actuator for adjusting the horizontal position by moving the hemming roller 268 in the horizontal direction in the hemming head 260, and has a piston rod which is horizontally moved forward and backward. The second roller bracket 267 is attached to the tip of the rod.

The movable block 263 is installed up and down in the hemming head 260, as shown in the upper second cylinder mechanism 266, the lower portion of the first roller bracket 264 is installed to extend horizontally It is fixed integrally.

At this time, the second roller bracket 267 which is horizontally extended to the piston rod end portion of the second cylinder mechanism 266 and is bent downward is integrally installed, and the hemming roller is lowered at the end portion of the second roller bracket 267. 268 is mounted.

In addition, the guide roller 265 is mounted downward on the front end of the first roller bracket 264.

In the hemming head 260, the driving of the first cylinder mechanism 262 and the second cylinder mechanism 266 is controlled by a controller, and the piston rod of the first cylinder mechanism 262 is moved back and forth by the controller. When controlled, the entire guide roller 265 and the hemming roller 268 are positioned up and down. When the piston rod of the second cylinder mechanism 266 is horizontally moved forward and backward, only the hemming roller 268 is positioned horizontally. do.

Basically, the hemming roller 268 moves along with the guide roller 265 along the hemming path set by the guide rail 232 of the rail die 230, wherein the guide roller 265 and the guide rail 232 are moved. ) Serves to stably move the hemming roller 268 that exerts a large hemming pressing force on the panel 1 along the path through which the hemming process is performed.

In particular, since the hemming is performed while the panel 1 is rotated by the turntable device 240 in the present invention, the hemming roller (with the guide roller 265 coupled to the guide rail 232 during the rotation of the panel 1) 268 to support the movement more stably, thereby enabling the hemming operation that requires a large processing force to be stably performed.

In this way, during the hemming process, the control unit controls the driving of the robot mechanism 250 to control the position and attitude of the hemming head 260, and the control unit controls the driving of the first cylinder mechanism 262 to guide the roller 265. By precisely controlling the position of the guide roller 265 can be guided along the correct hemming path in a state that is accurately coupled to the guide rail 232 of the rail die 230 (correctly coupled to the guide groove).

In addition, the controller may control the hemming force applied to the panel 1 by the hemming roller 268 to the panel 1 by precisely controlling the position of the hemming roller 268 by controlling the driving of the second cylinder mechanism 266. During processing, the horizontal position of the moving hemming roller 268 is controlled to the correct hemming position so that the hole inner circumferential flange F portion of the panel 1 can be pressed by the set hemming pressing force.

As such, the control unit is a component for controlling the overall operating state of the hemming device 200 according to the present invention, the clamp mechanism 216 of the jig device 210, more specifically the cylinder mechanism 219 of the clamp mechanism 216. To control the rotation, and to control the rotation of the turntable device 240 to control the rotation state of the panel 1, the object to be processed, the robot mechanism 250 for the movement and position control of the hemming head 260, posture control ) To control the driving.

In addition, the driving of the first and second cylinder mechanisms 262 and 266 for controlling the position of the guide roller 265 and the hemming roller 268 of the hemming head 260.

The configuration of the robot roller hemming device according to the present invention has been described above. When the hemming process is performed by the robot roller hemming device described above, the following description will be given.

As shown in FIG. 18, the guide roller 265 basically inserts into the guide rail 232 of the rail die 230, more specifically the guide groove 233 of the guide rail 232, which routes the hemming guide. Hemming roller 268, which is moved in a coupled state and integrally moved along the hemming path, presses the hole inner circumferential flange F of the panel 1 and compresses the inner circumferential surface of the ring-shaped part 5 to form a hemming process. You lose.

19 and 20, the overall process will be described in detail. First, the ring-shaped part 5 (mounting for mounting the camera) is mounted on the seating groove 214b of the lower fixed hemming die 214.

At this time, the hole 5a of the ring-shaped part 5 is fitted into the tooling pin 214c formed in the seating groove 214b so that the ring-shaped part does not move in the seating groove part.

Subsequently, the upper fixed hemming die 215 is slid on the upper surface of the lower fixed hemming die 214 so that the upper portion of the ring-shaped part is fixed to the fixing hole 215a of the upper fixed hemming die 215.

Then, the panel 1 (outer panel of the trunk lid) is loaded onto the upper fixed hemming die 215, and the panel moves so that the hole 6 of the panel 1 is fitted to the tip of the tooling pin 221. Secure it so that

Then, the rail die 230 is loaded on the upper surface of the panel 1, and after loading the rail die as described above, the clamp mechanism 216 (cylinder mechanism of each clamp mechanism) is driven to clamp the arm 218 of the clamp mechanism. ) Presses the upper surface of the rail die 230, so that the upper fixed hemming die 215, the panel 1, and the rail die 230 are integrally compressed.

Thereafter, the robot mechanism 250 is driven to enter the hemming head 260 into the working position. The arm 251 of the robot mechanism 250 moves the hemming head 260 to guide the rail 232 of the rail die 230. The guide roller 265 is inserted into and coupled to the guide groove, and a hemming roller 268 moving at the same time is inserted into the through hole 231 of the rail die 230 to the inside of the hole of the panel 1. To be located.

At this time, the hemming roller 268 is inside the hole inner circumferential flange (F) portion of the panel 1, in this state by driving the second cylinder mechanism 266 to move the hemming roller 268 to the hole inner circumferential flange ( F) The portion is pressed so that the hemming roller 268 causes the flange portion to be bent downward, i.e., toward the inner side of the ring-shaped component 5, thereby performing initial hemming.

Thereafter, the panel 1 is rotated by rotating the turntable device 240 to rotate the entire jig device 210 including the base 211. In this case, the guide roller 265 is moved along the guide groove 233. The hemming roller 268 moves along the hole inner circumferential flange (F) portion of the panel (1) and continuously folds the flange portion, whereby a continuous hemming process is performed on the entire flange portion.

In this way, the guide roller 265 and the hemming roller 268 can be moved along the correct hemming path during the rotation of the jig device 210 and the panel 1 fixed thereto. The upper and lower heights of the guide roller 265 and the hemming roller 268 are adjusted by controlling the driving of the first cylinder mechanism 262 so as to be moved while maintaining the engaged state along the guide groove 233 of 232.

As a result, the entire hole inner flange F portion of the panel 1 is hemmed to form a state in which the ring-shaped component 5 is joined to the panel. Then, the panel is removed and then put into the subsequent process with the ring-shaped component fixed. Let's go.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. Modified forms are also included within the scope of the present invention.

1: panel 200: hemming device
210: jig device 230: rail die
232: guide rail 233: guide groove
240: turntable device 250: robot mechanism
260: hemming head 265: guide roller
268: Heming Roller

Claims

A hemming device for compressing the inner circumferential flange portion of a hole formed in a panel on the inner surface of a ring-shaped part to hemming and joining the ring-shaped part to a hole portion of the panel.
A jig device for temporarily fixing a ring-shaped part at a work position of a hole while fixing and supporting the panel;
A rail die integrally formed with a guide rail disposed along the hole portion in a state of being pressed and fixed together with the panel by the jig device;
A turntable device on which the jig device is mounted and provided to rotate the entire jig device;
A hemming robot mechanism for controlling the positional movement and posture of the hemming head;
A guide roller mounted along the arm tip of the robot mechanism and guided along the guide rail at the time of rotation of the jig device and the panel fixed thereto, and moving along the hemming path together with the guide roller, A hemming head having a hemming roller which presses against the inner side of the ring-shaped part and hemmes and joins;
A control unit for controlling driving of the jig device, the turntable device, and the robot mechanism;
Robot roller hemming device comprising a.

The method according to claim 1,
The jig device,
A base coupled to the turntable device and provided to be rotated by the turntable device;
A support fixed to the base;
A hemming die which is supported by the support and is loaded to support the panel on the upper side while fixing the ring-shaped component in a working position;
A clamp mechanism for pressing and fixing the hemming die, the panel and the rail die loaded on the panel so as to be integrated on a base during processing;
Robot roller hemming device comprising a.

The method according to claim 2,
The hemming die,
A lower fixed hemming die fixedly installed on the support and configured to fix a lower portion of the ring-shaped component inserted into the seating groove by a seating recess formed in the lower portion of the ring-shaped component;
An upper fixed hemming die assembled to an upper side of the lower fixed hemming die and having a fixing hole into which an upper portion of the ring-shaped component is inserted to fix an upper portion of the ring-shaped component inserted into the fixing hole, and having a panel seated thereon;
Robot roller hemming device comprising a.

The method according to claim 3,
A robot roller hemming device, characterized in that a tooling pin is inserted into a hole of a ring-shaped subform to protrude upward from the bottom of the seating groove.

The method according to claim 2,
The clamp mechanism,
A bracket installed on the base;
A rotatable clamping arm which is rotatably mounted to the bracket, and which has a front end portion fixed to press the upper surface of the rail die during the rotation;
A cylinder mechanism mounted on the base and coupled to the rear end of the clamping arm to rotate the clamping arm;
Robot roller hemming device comprising a.

The method according to claim 5,
The bracket roller hemming device, characterized in that the tooling pin is further provided to extend the bracket is inserted into a hole formed separately in the panel to further secure the panel.

The method according to claim 1,
The rail die has a structure in which a through hole into which a hemming roller is inserted is formed, and a guide rail protrudes upward along the periphery of the through hole. The through hole has a hole inner circumference of the panel when the rail die is pressed against the panel. A robot roller hemming device having a position and a size for exposing a flange portion.

The method of claim 1 or claim 7,
The guide rail is a robot roller hemming device, characterized in that formed in the guide groove is formed to guide the guide roller is inserted along the outer peripheral surface.

The method according to claim 1,
The hemming head is,
A robot mounting adapter which is a part that is coupled to the arm tip of the robot mechanism;
A first cylinder mechanism mounted to the adapter and controlled to be driven by a controller;
A moving block mounted to a piston rod end of the first cylinder mechanism;
A first roller bracket integrally formed with the moving block;
A second cylinder mechanism fixedly mounted to the moving block and controlled to be driven by a controller;
A second roller bracket mounted to a piston rod end of the second cylinder mechanism;
The robot roller hemming device, characterized in that further comprising a guide roller on the first roller bracket, hemming roller is mounted on the second roller bracket.

The method according to claim 9,
The first cylinder mechanism vertically moves the guide roller and the hemming roller up and down at the hemming head so that the guide roller is guided while maintaining the engagement state with the guide rail and the hemming roller is moved to press the flange portion of the inner circumference of the panel. Move it,
And the second cylinder mechanism moves the hemming roller horizontally so as to be position-controlled in the direction in which the hemming head presses the hole inner circumferential flange portion of the panel and vice versa.