WO2011135620A1 - Processing apparatus - Google Patents

Processing apparatus Download PDF

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Publication number
WO2011135620A1
WO2011135620A1 PCT/JP2010/003027 JP2010003027W WO2011135620A1 WO 2011135620 A1 WO2011135620 A1 WO 2011135620A1 JP 2010003027 W JP2010003027 W JP 2010003027W WO 2011135620 A1 WO2011135620 A1 WO 2011135620A1
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WO
WIPO (PCT)
Prior art keywords
bending
mold
processing
preliminary
door
Prior art date
Application number
PCT/JP2010/003027
Other languages
French (fr)
Japanese (ja)
Inventor
冨永誠
山中剛介
Original Assignee
株式会社ヒロテック
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社ヒロテック filed Critical 株式会社ヒロテック
Priority to DE112010005523T priority Critical patent/DE112010005523T5/en
Priority to JP2012512533A priority patent/JP5462938B2/en
Priority to PCT/JP2010/003027 priority patent/WO2011135620A1/en
Publication of WO2011135620A1 publication Critical patent/WO2011135620A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B21D39/021—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder for panels, e.g. vehicle doors

Definitions

  • the present invention relates to a processing apparatus used when processing a workpiece.
  • the processing apparatus of Patent Document 1 includes a fixed lower mold, an upper mold that moves in a direction of moving toward and away from the lower mold, and a robot that conveys a door (workpiece) including an inner panel and an outer panel. I have. A holding hand for holding a workpiece is attached to the robot.
  • the robot moves the holding hand, and holds the workpiece before processing, which is placed on the table, with the holding hand. Thereafter, the robot conveys the workpiece to the lower mold and sets it on the lower mold. Thereafter, the upper die is lowered and predetermined processing is performed on the workpiece by the upper die and the lower die. After the machining step, the robot moves the holding hand to a position where the workpiece can be held, holds the workpiece, and carries it out.
  • the holding hand has only a function of holding a workpiece, and the lower mold and the upper mold have only a molding function.
  • the lower mold and the upper mold are independent from each other, there is a problem that when the processing apparatus is viewed as a whole, the processing apparatus is increased in size, increasing the space required for installation and increasing the cost. is there.
  • the holding hand since the holding hand has only a holding function, after the workpiece is transported, before moving to the processing step of the workpiece, the holding hand is retracted to a position where the machining operation is not hindered. Therefore, it is necessary to move to a processing step of lowering the upper die. Then, when the processing process of the workpiece is finished, the process proceeds to the workpiece unloading process, but this time, the holding hand in the retracted position must be moved to the holding position to hold the workpiece. . Therefore, the waiting time for moving the holding hand in a series of steps of loading, processing, and unloading a workpiece is long, and how to shorten this time is a problem.
  • the object of the present invention is to reduce the space required for installation in a processing apparatus capable of transporting and processing a workpiece as a whole, reducing the cost, reducing the cost, and transporting and processing. It is to improve the production efficiency by shortening the total time required.
  • a processing die is attached to a transport device for transporting a workpiece, and the workpiece can be held by this die.
  • the processing apparatus configured to process the workpiece by bringing the first mold and the second mold close to each other, the processing apparatus includes a transfer device for transferring the workpiece, A first mold is attached, and a holding portion for holding a workpiece is integrated with the first mold.
  • the first mold can be moved by the transport device, and the workpiece can be held by the holding section of the first mold. And a to-be-processed object is conveyed by the conveying apparatus to a processing place, and is processed by the 1st type and the 2nd type. Since the first mold has not only a molding function but also a holding function, the processing apparatus is compactly formed as compared with a case where a holding hand is provided separately from the mold as in the conventional example.
  • the workpiece before processing is transported to the processing place and then transferred to the processing step of the workpiece, the workpiece is used by using the first mold integrated with the holding portion for holding the workpiece. Can be processed immediately.
  • the workpiece can be held and transported immediately after the processing by the holding unit integrated with the first mold. It becomes possible. Therefore, the waiting time is shortened in a series of steps of carrying in, processing and carrying out the workpiece.
  • a preliminary processing die for performing preliminary processing on the workpiece and a main processing die for performing final processing on the workpiece after preliminary processing to obtain a final shape;
  • the preliminary processing die and the main processing die are respectively attached to and detached from the transfer device. Therefore, the preliminary processing die is mounted on the transfer device, the workpiece before processing is held by the holding portion of the preliminary processing die and transferred to the processing place, the preliminary processing is performed immediately, and then the preliminary processing die is transferred to the transfer device.
  • the processing die is mounted on the transport device, and the workpiece is processed with the processing die, and then the workpiece is held by the holding portion of the processing die and immediately conveyed from the processing location. It becomes possible.
  • the apparatus includes a preliminary processing mold transfer device that transfers the preliminary processing die and a main processing die transfer device that transfers the main processing die, and each of the transfer devices includes a robot. It is characterized by being.
  • This configuration makes it possible to transport the preliminary machining die and the main machining die with different robots. As a result, when preliminary machining is occurring, the machining die can be mounted on the robot and prepared, so that the waiting time in a series of steps can be further reduced.
  • the fourth invention is characterized in that, in any one of the first to third inventions, the first mold is integrated with a presser device for pressing the workpiece to the second mold.
  • the entire processing device including the presser device is compactly collected.
  • the fifth invention is characterized in that, in any one of the first to fourth inventions, the transport device drives the first mold in a direction approaching the second mold.
  • the workpiece can be processed by the transfer device.
  • the first die is attached to the transport device, and the holding portion for holding the workpiece is integrated with the first die, so that the first die can have a holding function for the workpiece. it can.
  • the processing device can be made compact, the space required for the installation of the processing device can be reduced, and the cost can be reduced.
  • the workpiece can be held by the holding unit integrated with the first mold, the workpiece can be processed immediately after the workpiece is transferred, or can be transferred immediately after the processing.
  • the waiting time can be shortened in a series of steps of loading, processing, and unloading the workpiece, thereby reducing the number of manufacturing steps and improving the production efficiency.
  • the preliminary processing die and the main processing die are each provided with the holding portion and the attachment / detachment portion to be attached to and detached from the transfer device is provided, the workpiece is processed using the preliminary processing die and the main processing die. You can transport things. Therefore, the number of manufacturing steps can be reduced even when preliminary processing and main processing need to be performed.
  • both the processing dies can be moved simultaneously. Thereby, waiting time can be shortened more and production efficiency can be improved further.
  • the processing device since the presser device is integrated with the first mold, the processing device can be made more compact.
  • the conveying device drives the first mold in the direction approaching the second mold, so that the workpiece can be processed by the conveying device.
  • FIG. 2 is a view corresponding to FIG.
  • FIG. 2 is a view corresponding to FIG. 1 showing a pre-bending state.
  • FIG. 2 is a view corresponding to FIG. 1 in a state where the preliminary bending apparatus is returned to the original place.
  • It is a partial sectional view of a preliminary bending device and a lower mold.
  • FIG. 6 is a view corresponding to FIG. 5 in a case where a preliminary bending process is performed.
  • FIG. 9 is a view corresponding to FIG.
  • FIG. 2 is a view corresponding to FIG.
  • FIG. 6 is a diagram corresponding to FIG. 1 according to a first modification of the first embodiment. It is the fragmentary sectional view which looked at the processing apparatus concerning the modification 2 of Embodiment 1 from the side. It is sectional drawing which shows the preliminary
  • FIG. It is a fragmentary sectional view of the processing device concerning Embodiment 2.
  • FIG. 17 is a view corresponding to FIG. It is sectional drawing of the upper board and rod which require a modification of Embodiment 2 and is a preliminary
  • FIG. 15 is a view corresponding to FIG. 14 in the final bending state.
  • FIG. 1 shows a processing apparatus 1 according to Embodiment 1 of the present invention. This processing apparatus 1 is used when manufacturing the door A of a motor vehicle.
  • the door (workpiece) A processed by the processing apparatus 1 includes an inner panel P1 positioned on the vehicle compartment side and an outer panel P2 positioned on the vehicle exterior side.
  • the inner panel P1 and the outer panel P2 are each formed by pressing a steel plate.
  • the inner panel P1 and the outer panel P2 are provided with a frame portion for forming a sash portion.
  • the peripheral edge of the inner panel P1 is overlapped in the thickness direction in the vicinity of the peripheral edge of the outer panel P2.
  • the peripheral portion of the outer panel P2 is bent toward the inner panel P1 so as to sandwich the peripheral portion of the inner panel P1, and is hemmed.
  • the processing apparatus 1 of the present invention is used.
  • the peripheral portion of the outer panel P2 is subjected to a preliminary bending process (preliminary process) and a final bending process (main process) after the preliminary bending process to obtain a final shape.
  • the processing device 1 is a hemming processing device for performing the above hemming processing.
  • the processing apparatus 1 includes a lower mold (second mold) 11 as a fixed mold fixed to a factory floor, a main bending apparatus 50, a preliminary bending apparatus 51, and a robot (conveyance apparatus) R. .
  • the robot R can carry the main bending device 50 and the pre-bending device 51 and the door A.
  • the main bending apparatus 50 and the lower mold 11 can be used to perform a final bending process on the door A
  • the preliminary bending apparatus 51 and the lower mold 11 can be used to perform a preliminary bending process on the door A.
  • the lower mold 11 is formed in a frame shape. Legs 21, 21,... Are provided around the lower mold 11. Each leg 21 extends in the vertical direction.
  • the lower mold 11 is arranged such that a molding surface for molding the door A faces upward.
  • the outer panel P2 of the door A is placed and supported on the molding surface.
  • the guide pins 11a, 11a,... Guide the main bending device 50 and the preliminary bending device 51 and guide them to a predetermined position of the lower die 11, and are arranged at intervals in the circumferential direction of the lower die 11. Yes.
  • Each guide pin 11a protrudes upward, and the upper part has a tapered shape.
  • a plurality of through holes 11b, 11b,... Penetrating in the vertical direction are provided in the vicinity of the periphery of the lower mold 11.
  • the through holes 11b, 11b,... are arranged at intervals in the circumferential direction of the lower mold 11.
  • the lower mold 11 is provided with a plurality of mold driving devices 13, 13,.
  • the mold driving device 13 is composed of a hydraulic cylinder device, and includes a rod 13a, a cylinder 13b, and a rotating device 13c that rotates the rod 13a around a central axis. Since the stroke amount of the rod 13a of the mold drive device 13 may be about 5 mm to 10 mm, for example, a hydraulic cylinder device of a type with a small stroke amount is used.
  • the mold driving devices 13, 13,... Are arranged at the peripheral edge of the lower mold 11 so as to be spaced from each other in the circumferential direction of the lower mold 11 and to correspond to the through holes 11b. Since the mold driving device 13 is small, it can also be arranged at the center of the lower mold 11.
  • the mold driving device 13 is arranged so that the rod 13a extends substantially vertically and the cylinder 13b is positioned below the rod 13a.
  • the cylinder 13b is fixed on the lower surface of the lower mold 11 so as to protrude downward.
  • the rod 13a is inserted into the through hole 11b of the lower mold 11 and moves in the vertical direction in the through hole 11b.
  • An engaging member 13d is fixed to the tip (upper end) of the rod 13a.
  • the engaging member 13d is formed in a substantially rectangular plate shape that extends in the radial direction of the rod 13a. Both end portions in the longitudinal direction of the engaging member 13d protrude from the outer peripheral surface of the rod 13a on both sides in the radial direction.
  • the present bending apparatus 50 is configured to hold the door A, and is formed in a frame shape corresponding to the processed portion of the outer panel P2 as a whole.
  • the bending device 50 is provided with a frame portion 54 that extends so as to connect portions separated from each other.
  • the frame portion 54 is provided with an attachment / detachment portion 55 to / from which the arm of the robot R is attached / detached near the center of the bending apparatus 50.
  • the detachable portion 55 is a known auto tool changer. The detachable portion 55 and the arm of the robot R can be automatically switched between a mounting state and a detachable state by an actuator (not shown).
  • the present bending apparatus 50 can be placed on the upper surface of the lower mold 11 as shown in FIGS. 9 and 10.
  • rod insertion holes 50a, 50a,... Through which the rod 13a is inserted are formed in a portion of the mold driving device 13 facing the rod 13a.
  • the rod insertion hole 50a has a substantially rectangular shape through which the engaging member 13d can be inserted.
  • the inner dimension in the longitudinal direction of the rod insertion hole 50a is set slightly longer than the dimension in the longitudinal direction of the engaging member 13d.
  • the inner dimension in the minor axis direction of the rod insertion hole 50a is set slightly longer than the dimension in the direction orthogonal to the longitudinal direction of the engaging member 13d in plan view and shorter than the dimension in the longitudinal direction of the engaging member 13d. ing.
  • the engaging member 13d can pass through the rod insertion hole 50a. It becomes.
  • the engaging member 13d is placed on the peripheral edge of the rod insertion hole 50a. Engage in contact.
  • the die driving device 13 causes the lower mold 11 and the main bending portion to be bent.
  • the device 50 is coupled to each other in a non-detachable manner.
  • the lower die 11 and the main bending device 50 are in a non-coupled state in which they can be separated from each other.
  • a hydraulic pipe extending from a hydraulic circuit (not shown) is connected to the mold driving devices 13, 13,.
  • a control device is connected to the hydraulic circuit, and the operation timing and stroke amount of the mold drive device 13 are controlled by this control device.
  • the rotation device 13c of the mold driving device 13 is constituted by an electric motor or the like.
  • the rotation device 13c is also controlled by the control device.
  • the bending apparatus 50 is formed with a guide pin insertion hole 50b through which the guide pin 11a is inserted.
  • the main bending apparatus 50 includes a plurality of adsorbing apparatuses (holding portions) 56 and 56 for adsorbing the door A, presser apparatuses 57 and 57, and a main bending punch (first type). 58, 58 and positioning pins 59, 59.
  • These suction devices 56, 56, presser devices 57, 57, and main bending punches 58, 58 are fixed and integrated with the main body portion of the main bending device 50.
  • the presser device 57 may be a separate body.
  • a negative pressure pipe is connected to the adsorption device 56 via a valve device (both not shown).
  • the suction device 56 can be switched between a state in which a negative pressure is applied to a contact portion with the door A and a state in which the suction device 56 is not applied by an opening / closing operation of the valve device.
  • a negative pressure is applied to the contact portion of the adsorption device 56 with the door A, the door A is adsorbed and held.
  • the door A can be detached from the adsorption device 56.
  • the presser device 57 is for pressing and fixing the inner panel P1 of the door A from above and pressing it against the outer panel P2.
  • the presser device 57 includes a pad 57a that is in contact with the inner panel P1.
  • the presser device 57 includes an urging unit including a spring or the like for urging the pad 57a downward. By this urging portion, the pad 57a can be pressed against the inner panel P1 with a predetermined force.
  • the main bending punch 58 is for subjecting the processed part of the door A to the main bending process.
  • the main bending process is a process for finishing the processed part in a final shape by applying it to the processed part subjected to the pre-bending process described later.
  • the main bending punch 58 is annularly arranged in a plan view corresponding to the processed portion of the door A.
  • the positioning pin 59 protrudes downward.
  • the positioning pin 59 is inserted into a hole (not shown) formed in a predetermined part of the door A, and is used for setting the position of the door A to a predetermined position with respect to the bending apparatus 50.
  • the bending apparatus 50 has a function of holding the door A and a function of forming the door A.
  • the bending apparatus 50 is placed on the block B1.
  • a state of being placed on the block B1 is a processing preparation state.
  • the preliminary bending device 51 is also configured to be able to hold the door A, and the basic structure is the same as that of the main bending device 50. That is, as shown in FIGS. 5 and 6, the preliminary bending apparatus 51 includes a frame portion 60 and an attachment / detachment portion 61. In the preliminary bending device 51, a rod insertion hole 51a and a guide pin insertion hole 51b (shown in FIG. 1) are formed.
  • the preliminary bending device 51 is provided with a preliminary bending punch 70.
  • the preliminary bending punch 70 has a shape exclusively for preliminary bending.
  • a suction device 56, a presser device 57 and a positioning pin 59 similar to those of the bending device 50 are also provided in the preliminary bending device 51.
  • the pre-bending device 51 is placed on the block B2.
  • the preliminary bending device 51 also has a function of holding the door A and a function of forming the door A.
  • Preliminary bending refers to bending the processed portion of the outer panel P2 so as to be tilted, and is a pre-process for performing complete hemming.
  • symbol C in a figure is a mounting base for mounting the door A before a process.
  • the door A is mounted on the mounting table C in a posture with the inner panel P1 side facing up.
  • the engaging member 13d of the rod 13a of the mold driving device 13 is not engaged with the peripheral edge of the rod insertion hole 51a of the pre-bending device 51 and the rod insertion hole 50a of the main bending device 50 by the rotating device 13c. Keep rotating.
  • the robot R takes the preliminary bending device 51. That is, the robot R moves the arm, the fixing portion R1 provided at the tip of the arm is overlapped with the attaching / detaching portion 61 of the preliminary bending apparatus 51, and the attaching / detaching portion 61 is attached to the fixing portion R1.
  • the robot R moves the preliminary bending device 51 to hold the door A mounted on the mounting table C.
  • the pre-bending device 51 is overlapped on the door A from above, and the positioning pins 59 are inserted into the positioning holes of the door A as shown in FIG. Adsorb and hold door A.
  • the robot R is in a stationary state, but the arm is actually moving.
  • the robot R places the preliminary bending device 51 holding the door A on the lower mold 11.
  • the guide pin 11 a is inserted into the guide pin insertion hole 51 b of the preliminary bending device 51, and the preliminary bending device 51 is guided by the guide pin 11 a to It is placed at a predetermined position.
  • the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 51a of the preliminary bending device 51, and the engaging member 13d protrudes upward from the rod insertion hole 51a.
  • the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d as shown in FIG. Is made to intersect with the longitudinal direction of the rod insertion hole 51a.
  • the engaging member 13d engages with the peripheral edge portion of the rod insertion hole 51a of the preliminary bending device 51, and the lower mold 11 and the preliminary bending device 51 are coupled.
  • the pre-bending punch 70 of the pre-bending device 51 is driven in a direction approaching the lower die 11.
  • the pre-bending punch 70 of the pre-bending device 51 is driven, the pre-bending process is performed on the processed part of the outer panel P2.
  • the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 51b of the preliminary bending device 51. It is made to correspond with the longitudinal direction.
  • the suction force is not generated in the suction device 56 of the pre-bending device 51, and only the pre-bending device 51 is held by the robot R and conveyed to the table B2 while the door A remains in the lower mold 11, and the table B2 (Shown in FIG. 4).
  • the robot R After placing the pre-bending device 51 on the table B2, the robot R takes the main bending device 50. That is, as shown in FIG. 8, the robot R moves the arm, the arm fixing portion R1 is overlaid on the attaching / detaching portion 55 of the bending apparatus 50, and the attaching / detaching portion 55 is attached to the fixing portion R1.
  • the robot R places the bending apparatus 50 on the lower mold 11.
  • the guide pin 11 a is inserted into the guide pin insertion hole 50 b of the main bending device 50, and the main bending device 50 is guided by the guide pin 11 a to It is placed at a predetermined position.
  • the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 50a of the bending device 50, and the engaging member 13d protrudes upward from the rod insertion hole 50a.
  • the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the length of the rod insertion hole 50a. Cross the longitudinal direction.
  • the engaging member 13d engages with the peripheral edge of the rod insertion hole 50a of the main bending device 50, and the lower die 11 and the main bending device 50 are coupled.
  • the main bending punch 58 of the main bending device 50 is driven in a direction approaching the lower die 11.
  • the main bending punch 58 of the main bending apparatus 50 is driven, the main bending process is performed on the processed portion of the outer panel P2. Thereby, the to-be-processed part of the outer panel P2 becomes a final shape.
  • the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole of the main bending device 50. It is made to correspond with the longitudinal direction of 50a.
  • the suction device 56 of the main bending device 50 is operated to cause the suction device 56 to adsorb the door A, and the door A is held by the main bending device 50.
  • the main bending apparatus 50 is held by the robot R and lifted together with the door A to convey the door A to a predetermined place.
  • the robot R After transporting the door A, the robot R transports the bending apparatus 50 to the table B1 and places it on the table B1.
  • the processing apparatus 1 since the preliminary bending device 51 is provided with the preliminary bending punch 58 and the suction device 56, the preliminary bending device 51 has not only a forming function but also a holding function. Can also be given. The same applies to the bending apparatus 50. Thereby, compared with the case where a holding hand is provided separately from a type
  • the door A before processing is transported to the lower mold 11 at the processing place and then the door A is processed, the door is used by using the pre-bending punch 58 of the pre-bending device 51 that has transported the door A. A can be processed immediately. Further, when the processed door A is transported after the door A processing step, the door A can be held and transported by the suction device 56 of the main bending device 50 immediately after the processing. Therefore, the waiting time can be shortened in a series of steps of carrying in, processing, and carrying out the door A, thereby reducing the number of manufacturing steps and improving the production efficiency.
  • the suction device 56 is provided in each of the main bending device 50 and the pre-bending device 51, the door A can be conveyed using the main bending device 50 and the pre-bending device 51. Therefore, the number of manufacturing steps can be reduced when the preliminary bending process and the main bending process are performed.
  • the processing device 1 including the presser device 57 can be made more compact.
  • the main bending apparatus 50 having the main bending punch 58 is moved by the robot R and placed on the lower mold 11, and the main bending apparatus 50 in this state is driven by the mold driving apparatus 13 to apply a processing force to the outer panel P2.
  • the mold driving device 13 can be made small with a small stroke amount, and thus the processing device 1 can be miniaturized.
  • the processing device 1 includes a first robot Ra and a second robot Rb as in Modification 1 of Embodiment 1 shown in FIG. It may be provided.
  • the first robot Ra takes the main bending device 50 and moves the main bending device 50 to hold the door A mounted on the mounting table C. Then, the main bending device 50 holding the door A is placed on the lower mold 11 so that the suction device 56 does not generate an adsorption force, and only the main bending device 50 is left with the door A remaining on the lower mold 11. The robot is held by the first robot Ra and waits.
  • the second robot Rb takes the preliminary bending device 51 and places it on the lower mold 11. Then, a pre-bending process is performed by the mold driving device 13 as described above. At this time, the pre-bending may be performed using the weight of the pre-bending device 51, or the pre-bending may be performed by pressing the pre-bending device 51 downward by the second robot Rb.
  • the second robot Rb takes the preliminary bending device 51 on the lower mold 11 and removes it from the lower mold 11.
  • the main bending device 50 held by the first robot Ra is placed on the lower mold 11. Then, the main bending process is performed by the mold driving device 13 as described above.
  • the door A is adsorbed to the main bending device 50, the first robot Ra removes the main bending device 50 and the door A from the lower mold 11, and conveys the door A to a predetermined place.
  • the preliminary bending device 51 may be held by the first robot Ra and waited. In this case, the door A placed on the mounting table C is taken by the preliminary bending device 51 and placed on the lower mold 11. Further, the door after the main bending is conveyed by the preliminary bending device 51.
  • the power of the die driving device 13 is used when performing the pre-bending process.
  • the present invention is not limited to this, and the weight of the pre-bending device 51 is set on the door A.
  • the pre-bending may be performed with the weight of the pre-bending device 51 as the weight capable of the pre-bending so that the pre-bending can be performed only by the weight.
  • the preliminary bending may be performed by pressing the preliminary bending device 51 against the lower mold 11 by the robot R.
  • the arm of the robot R may be separated from the preliminary bending device 51 during the preliminary bending process, or may be left attached. Further, the arm of the robot R may be separated from the main bending apparatus 50 during the main bending, or may be left attached.
  • the lower mold 11 is fixed to the floor.
  • the present invention is not limited to this.
  • the lower mold 11 may be held by another robot (not shown). Thereby, the lower mold
  • the preliminary bending device 51 is moved by the first robot Ra, and the lower mold 11 is moved by the second robot Rb.
  • the lower mold 11 is provided with a frame 100.
  • the frame 100 is provided with an attachment / detachment unit 101 to / from which the arm of the second robot Rb is attached / detached.
  • the detachable unit 101 is a known auto tool changer.
  • the preliminary bending apparatus 51 is attached to the arm of the first robot Ra.
  • the lower mold 11 is attached to the arm of the second robot Rb. Then, after the door A is sucked and held by the suction device 57 of the preliminary bending device 51, as shown in the figure, the preliminary bending device 51 and the lower mold 11 are moved in the horizontal direction by the first and second robots Ra and Rb.
  • the rod 13a of the die driving device 13 is inserted into the rod insertion hole 51a of the pre-bending device 51.
  • the rod 13a is rotated to couple the preliminary bending device 51 and the lower die 11, and the die driving device 13 is operated to attract the preliminary bending device 51 and the lower die 11 to each other.
  • the pre-bending device 51 and the lower mold 11 move toward each other.
  • the first robot Ra or the second robot Rb detects this moving force
  • the first robot Ra or the first mold 11 is moved.
  • the two robots Rb move the preliminary bending device 51 and the lower mold 11 in directions approaching each other so as not to resist the moving force. Accordingly, the preliminary bending can be performed even using the two robots Ra and Rb.
  • the preliminary bending device 51 is removed from the arm of the first robot Ra, and the main bending device 50 is attached to the arm. Then, the main bending process is performed in the same manner.
  • preliminary bending and main bending may be performed by the force of the robots Ra and Rb.
  • the processing apparatus 1 may be provided with first to third preliminary bending punches 111 to 113. That is, the processing apparatus 1 includes a first preliminary bending apparatus (not shown) having a first preliminary bending punch 111, a second preliminary bending apparatus (not shown) having a second preliminary bending punch 112, and a third preliminary bending. A third preliminary bending apparatus (not shown) having a punch 113 is provided.
  • FIGS. 13A and 13B illustrate the pre-bending process by the first pre-bending punch 111.
  • the first preliminary bending punch 111 is used first, and is used for slightly bending the processed portion of the outer panel P2 inwardly of the door A. (C) and (d) in FIG.
  • FIGS. 13E and 13F illustrate the pre-bending process by the third pre-bending punch 113.
  • FIG. The third pre-bending punch 113 is used after the pre-bending by the second pre-bending punch 112, and is for further bending the outer panel P2 inward of the door A.
  • Embodiment 2 14 and 15 show a processing apparatus 1 according to Embodiment 2 of the present invention.
  • the second embodiment is different from the first embodiment in that the preliminary bending punch 81 is a movable type and the holding device (holding portion) 92 of the door A is a movable type. A different part from 1 is demonstrated in detail.
  • the processing apparatus 1 includes a substrate 20 to which a main bending punch (second mold) 80 and a preliminary bending punch 81 are attached.
  • substrate 20 is extended substantially horizontal, and the legs 21, 21, ... are provided in the peripheral part.
  • the same type driving device 13 as that of the first embodiment is attached to the substrate 20.
  • a through hole 20a through which the rod 13a is inserted is formed at a portion of the substrate 20 corresponding to the mold driving device 13.
  • the preliminary bending punch 81 is supported by the movable mechanism 82.
  • the movable mechanism 82 is for switching the position of the preliminary bending punch 81 between a processing position where the preliminary bending process is performed and a retreat position where the preliminary bending process is not performed.
  • the movable mechanism 82 includes a punch mounting plate 83 to which the preliminary bending punch 81 is fixed, a bracket 84 that rotatably supports the punch mounting plate 83 about a horizontal axis, and a cylinder device for rotating the punch mounting plate 83. 85.
  • FIG. 14 when the rod of the cylinder device 85 is extended, the preliminary bending punch 81 moves inward of the substrate 20 and becomes a processing position.
  • the rod of the cylinder device 85 when the rod of the cylinder device 85 is contracted, the preliminary bending punch 81 moves to the outside of the substrate 20 to be in the retracted position.
  • the processing device 1 is provided with a presser device 89 on the lower side.
  • the presser device 89 includes a pad 89a that contacts the inner panel P1 and a gas cylinder 89b that supports the pad 89a from below.
  • the gas cylinder 89b extends and contracts in the vertical direction.
  • a panel pusher 103 is provided on the substrate 20.
  • the panel pusher 103 pushes the inner panel P1 upward when the swinging member 93 does not hold the door A, thereby pressing the inner panel P1 and the outer panel P2 against the upper mold 12 to prevent the panel pusher 103 from falling. belongs to.
  • the panel pusher 103 includes a cylinder device 103a composed of an air cylinder or the like fixed to the substrate 20, and a contact member 103b provided at the tip of the rod of the cylinder device 103a.
  • the cylinder device 103a is arranged so that the rod protrudes upward.
  • the inner panel P1 is in contact with the contact member 103b.
  • the processing apparatus 1 includes a frame member 90 to which an upper mold (first mold) 12 is attached.
  • the frame member 90 is provided with an attaching / detaching portion 91 to / from which the fixing portion R1 of the arm of the robot R is attached / detached.
  • the upper mold 12 is attached to the side of the frame member 90 opposite to the side where the attaching / detaching portion 91 is provided so as to protrude downward.
  • the outer panel P ⁇ b> 2 of the door A is in contact with the lower surface of the upper mold 12.
  • a rod insertion hole 90a through which the rod 13a is inserted is formed at a portion facing the rod 13a of the mold driving device 13.
  • the rod insertion hole 90a has the same shape as the rod insertion hole 50a of the first embodiment.
  • a holding device 92 for holding the door A is provided.
  • the holding device 92 includes a swing member 93 and a cylinder device 94 that swings the swing member 93.
  • Reference numeral 95 denotes a swing shaft of the swing member 93.
  • the swinging member 93 holds the door A (the posture shown in FIG. 14).
  • the rod of the cylinder device 94 is contracted, the swinging member 93 does not hold the door A. It becomes a posture (posture swung downward in FIG. 14).
  • the frame member 90 is placed on a table (not shown).
  • the preliminary bending punch 81 is set as a processing position.
  • the attaching / detaching portion 91 provided in the frame member 90 is attached to the fixing portion R1 of the robot R, and the frame member 90 is fixed to the robot R. Thereafter, the frame member 90 is moved to hold the door A placed at a predetermined location. That is, when the rod of the cylinder device 94 is extended and the swing member 93 is swung downward, the frame member 90 is overlaid on the door A. When the frame member 90 overlaps the door A, the rod of the cylinder device 94 is shrunk. The swing member 93 is swung as shown in FIG.
  • the frame member 90 holding the door A is moved by the robot R and placed on the substrate 20.
  • the swinging member 93 interferes with the preliminary bending punch 81 or the lower mold 11, so the swinging member 93 is swung so as not to interfere with them, and the door A is moved. It is necessary to avoid this posture and avoid it.
  • the swing member 93 is swung to avoid it, the inner panel P1 and the outer panel P2 fall, but the substrate 20 is provided with the panel pusher 103 described above, and the panel pusher 103 causes the inner panel to move. P1 and the outer panel P2 are prevented from falling, and the inner panel P1 and the outer panel P2 can be placed on the lower mold 11 while being pressed against the upper mold 12.
  • the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 90a of the frame member 90.
  • the rod 13a of the mold driving device 13 is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a of the frame member 90.
  • the engaging member 13d engages with the peripheral edge portion of the rod insertion hole 90a of the frame member 90, and the frame member 90 and the substrate 20 are coupled.
  • the frame member 90 is driven in a direction approaching the substrate 20.
  • the pad 89a of the presser device 89 is pressed against the inner panel P1, whereby the door A is fixed.
  • the preliminary bending punch 81 When the frame member 90 is driven by the mold driving device 13, the preliminary bending punch 81 is in the processing position, so that the upper mold 12 and the preliminary bending punch 81 perform preliminary bending on the processed portion of the outer panel P2.
  • the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 90b of the frame member 90. It is made to correspond with the longitudinal direction.
  • the door A is lifted by the robot R while being held on the frame member 90 by the holding device 92, and the preliminary bending punch 81 is switched to the retracted position.
  • the frame member 90 holding the door A is moved by the robot R and placed again on the substrate 20, and the rod 13 a of the mold driving device 13 is inserted into the rod insertion hole 90 a of the frame member 90. .
  • the rod 13a of the mold driving device 13 is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a of the frame member 90.
  • the upper die 12 and the main bending punch 80 are used to subject the processed portion of the outer panel P2 to the main bending.
  • the rod 13a is rotated by operating the rotating device 13c of the mold driving device 13, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 90b of the frame member 90. It is made to correspond with the longitudinal direction.
  • the frame member 90 is held by the robot R and lifted together with the door A to convey the door A to a predetermined place.
  • the processing apparatus 1 since the upper mold 12 and the holding device 92 are assembled and integrated with the frame member 90, the frame member 90 has not only a molding function, A holding function can also be provided. Thereby, compared with the case where a holding hand is provided separately from a type
  • the door A before processing is transported to the substrate 20 at the processing place and then the door A is processed, the door A can be processed immediately using the upper mold 12 that has transported the door A. Further, when the processed door A is transported after the door A processing step, the door A can be held and transported by the holding device 92 immediately after the processing. Therefore, the waiting time can be shortened in a series of steps of carrying in, processing, and carrying out the door A, thereby reducing the number of manufacturing steps and improving the production efficiency.
  • the processing apparatus 1 is more compact than that of the first embodiment. Can be.
  • the holding device 92 may be directly attached to the upper mold 12 and integrated.
  • the power of the mold driving device 13 is used when performing the preliminary bending process.
  • the present invention is not limited to this, and the weight of the frame member 90 is placed on the door A.
  • the pre-bending may be performed with the weight of the frame member 90 as the weight capable of the pre-bending so that the pre-bending can be performed only by the weight.
  • the mold driving device 13 may be provided on the frame member 90 side.
  • a rod insertion hole may be formed in the substrate 20.
  • the arm of the robot R may be separated from the frame device 90 during the preliminary bending process or the main bending process, or may be left attached.
  • the frame member 90 of the processing apparatus 1 may be provided with a lower member 120 for engaging the engaging member 13d of the rod 13a during preliminary bending.
  • the lower member 120 is attached to the lower surface of the frame member 90 so as to correspond to the portion where the rod insertion hole 90a is formed and to protrude downward (in the direction approaching the driving device 13).
  • the inside of the lower member 120 is formed in a hollow shape.
  • a rod insertion hole 120a having the same shape as the rod insertion hole 90a of the frame member 90 is formed at the bottom of the lower member 120 so as to correspond to the rod insertion hole 90a.
  • the longitudinal directions of the two rod insertion holes 90a and 120a coincide with each other, and the peripheral portions of the two rod insertion holes 90a and 120a overlap each other when viewed from above.
  • the frame member 90 is positioned higher at the time of preliminary bending than at the time of final bending, so that the engaging member 13d of the rod 13a is positioned inside the lower member 120 at this time. .
  • the engaging member 13d is moved to the rod insertion hole 120a. It contacts and engages with the peripheral part. Therefore, preliminary bending can be performed by the mold driving device 13.
  • the rod 13a is rotated so that the longitudinal direction of the engaging member 13d and the longitudinal direction of the rod insertion hole 90a are matched. Then, the frame member 90 is lowered, and the rod 13a is inserted into the rod insertion hole 90a of the frame member 90. In this state, as shown in FIG. 17, when the rod 13a is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a, the engaging member 13d is moved to the rod insertion hole 90a. It contacts and engages with the peripheral part. Therefore, the bending can be performed by the mold driving device 13.
  • the portion where the engaging member 13d of the rod 13a engages during the preliminary bending and the portion where the engaging member 13d of the rod 13a engages during the main bending are separated in the moving direction of the rod 13a.
  • the portion that engages during preliminary bending is located closer to the base end of the rod 13a. Therefore, even if the stroke amount of the rod 13a of the driving device 13 is small, the frame member 90 can be driven by both preliminary bending and main bending. Note that the structure of this modification can also be applied when the mold is moved in the horizontal direction.
  • the main bending punch 80 and the pre-bending punch 81 are prevented from moving from the floor surface.
  • the present invention is not limited to this. (Not shown) may be provided. Thereby, the main bending punch 80 and the pre-bending punch 81 can be moved to arbitrary places, and the time required for performing the pre-bending process and the main bending process can be shortened.
  • a conveying apparatus is not restricted to the robot R,
  • things such as a crane and a hoist, can be conveyed.
  • Any device may be used.
  • a chain block may be combined with a crane or a hoist to form a transport device.
  • mold drive device 13 is comprised with the hydraulic cylinder apparatus, it may comprise not only this but a pneumatic cylinder apparatus, for example, and it may comprise using an electromagnet.
  • the electromagnet is used in the first embodiment, the electromagnet is fixed to one of the main bending device 50, the preliminary bending device 51, and the lower mold 11, and the other is made of a magnetic material. And by energizing an electromagnet, the attraction force by magnetic force can be generated and hemming can be performed.
  • the electromagnet may be fixed to one of the frame member 90 and the substrate 20 and the other may be made of a magnetic material.
  • the main bending device 50 and the pre-bending device 51 may be driven using vacuum pressure to be adsorbed to the lower mold 11.
  • the frame member 90 may be attracted to the substrate 20 by using a vacuum pressure.
  • the coupled state and the uncoupled state are switched by rotating the rod 13a of the mold driving device 13.
  • the present invention is not limited to this.
  • the entire mold driving device 13 is moved to be in the coupled state. You may make it switch a non-bonding state.
  • the preliminary bending device 51 when performing processing that is not divided into preliminary processing and main processing, the preliminary bending device 51 may be omitted in the first embodiment, and the preliminary bending punch 81 may be omitted in the second embodiment.
  • the present invention can be applied to various press processing such as trim processing, piercing processing, and burring processing.
  • press processing tube expansion processing and bellows processing are also applicable.
  • the present invention can be widely applied to processing by applying a processing force to a workpiece.
  • the processing apparatus according to the present invention can be used, for example, when manufacturing an automobile door or the like.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mounting, Exchange, And Manufacturing Of Dies (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

Provided is a processing apparatus (1) which includes a hemming punch and a lower die (11). The hemming punch and the lower die (11) are allowed to sandwich a workpiece (A) therebetween and then brought closer to each other, thereby processing the workpiece (A). The processing apparatus (1) also includes a transfer unit (R) for transferring the workpiece (A). The transfer unit (R) is provided with the hemming punch. The hemming punch is integrated with a suction unit for retaining the workpiece (A).

Description

加工装置Processing equipment
　本発明は、被加工物を加工する際に用いられる加工装置に関するものである。 The present invention relates to a processing apparatus used when processing a workpiece.
　従来より、例えば、自動車用ドアの製造現場では、インナパネルとアウタパネルとをヘミング加工するための加工装置が用いられている（例えば、特許文献１参照）。 2. Description of the Related Art Conventionally, for example, a processing apparatus for hemming an inner panel and an outer panel has been used at a manufacturing site of an automobile door (for example, see Patent Document 1).
　特許文献１の加工装置は、固定された下型と、下型に対し接離する方向に移動する上型と、インナパネル及びアウタパネルからなるドア（被加工物）を搬送するためのロボットとを備えている。ロボットには、被加工物を保持するための保持ハンドが取り付けられている。 The processing apparatus of Patent Document 1 includes a fixed lower mold, an upper mold that moves in a direction of moving toward and away from the lower mold, and a robot that conveys a door (workpiece) including an inner panel and an outer panel. I have. A holding hand for holding a workpiece is attached to the robot.
　上記加工装置を用いて被加工物を加工する場合には、まず、ロボットが保持ハンドを移動させて、置き台に置いてある加工前の被加工物を保持ハンドで保持する。その後、ロボットは被加工物を下型まで搬送して下型にセットする。しかる後、上型を下降させて上型と下型とで被加工物に所定の加工を施す。加工工程の後、ロボットは保持ハンドを被加工物の保持が可能な位置まで移動させて被加工物を保持し、搬出する。 In the case of processing a workpiece using the above processing apparatus, first, the robot moves the holding hand, and holds the workpiece before processing, which is placed on the table, with the holding hand. Thereafter, the robot conveys the workpiece to the lower mold and sets it on the lower mold. Thereafter, the upper die is lowered and predetermined processing is performed on the workpiece by the upper die and the lower die. After the machining step, the robot moves the holding hand to a position where the workpiece can be held, holds the workpiece, and carries it out.
特開２００１－２８６９５３号公報Japanese Patent Laid-Open No. 2001-286953
　ところで、特許文献１では、保持ハンドは被加工物を保持する機能のみを有しており、また、下型及び上型は成形機能のみを有している。つまり、保持ハンドと、下型及び上型とは、各々が独立しているので、加工装置を全体として見たときには大型化し、設置に要するスペースが大きくなってしまうとともにコストアップとなるという問題がある。 Incidentally, in Patent Document 1, the holding hand has only a function of holding a workpiece, and the lower mold and the upper mold have only a molding function. In other words, since the holding hand, the lower mold and the upper mold are independent from each other, there is a problem that when the processing apparatus is viewed as a whole, the processing apparatus is increased in size, increasing the space required for installation and increasing the cost. is there.
　また、保持ハンドは保持機能のみを有しているので、被加工物を搬送した後、被加工物の加工工程に移る前に、加工動作を阻害しない位置まで保持ハンドを退避させておき、その後、上型を下降させる加工工程に移る必要がある。そして、被加工物の加工工程が終わったら、被加工物の搬出工程に移るのであるが、今度は、退避位置にある保持ハンドを被加工物の保持のために保持位置まで移動させなければならない。従って、被加工物の搬入、加工、搬出の一連の工程で保持ハンドを移動させる際の待ち時間が長く、この時間をいかにして短縮するかが問題となっている。 In addition, since the holding hand has only a holding function, after the workpiece is transported, before moving to the processing step of the workpiece, the holding hand is retracted to a position where the machining operation is not hindered. Therefore, it is necessary to move to a processing step of lowering the upper die. Then, when the processing process of the workpiece is finished, the process proceeds to the workpiece unloading process, but this time, the holding hand in the retracted position must be moved to the holding position to hold the workpiece. . Therefore, the waiting time for moving the holding hand in a series of steps of loading, processing, and unloading a workpiece is long, and how to shorten this time is a problem.
　本発明の目的とするところは、被加工物の搬送及び加工を行うことができる加工装置において、全体としてコンパクト化を図って設置に要するスペースを縮小するとともに、コストを削減し、搬送及び加工に要するトータルの時間を短縮して生産効率を向上させることにある。 The object of the present invention is to reduce the space required for installation in a processing apparatus capable of transporting and processing a workpiece as a whole, reducing the cost, reducing the cost, and transporting and processing. It is to improve the production efficiency by shortening the total time required.
　上記目的を達成するために、本発明では、被加工物を搬送するための搬送装置に加工用の型を取り付けるようにし、この型で被加工物を保持できるようにした。 In order to achieve the above object, in the present invention, a processing die is attached to a transport device for transporting a workpiece, and the workpiece can be held by this die.
　第１の発明では、第１型と、上記第１型に対向するように配置される第２型とを備え、上記第１型と上記第２型の間に被加工物を配置し、該第１型と第２型を互いに接近させることによって被加工物を加工するように構成された加工装置において、被加工物を搬送するための搬送装置を備えており、上記搬送装置には、上記第１型が取り付けられ、上記第１型には、被加工物を保持するための保持部が一体化されていることを特徴とするものである。 In the first invention, a first mold and a second mold disposed so as to face the first mold, a workpiece is disposed between the first mold and the second mold, In the processing apparatus configured to process the workpiece by bringing the first mold and the second mold close to each other, the processing apparatus includes a transfer device for transferring the workpiece, A first mold is attached, and a holding portion for holding a workpiece is integrated with the first mold.
　この構成によれば、第１型を搬送装置により移動させ、被加工物を第１型の保持部で保持することが可能になる。そして、被加工物が搬送装置により加工場所まで搬送されて第１型及び第２型により加工される。第１型が成形機能だけでなく、保持機能も持っているので、従来例のように型とは別に保持ハンドを設ける場合に比べて加工装置がコンパクトにまとまる。 According to this configuration, the first mold can be moved by the transport device, and the workpiece can be held by the holding section of the first mold. And a to-be-processed object is conveyed by the conveying apparatus to a processing place, and is processed by the 1st type and the 2nd type. Since the first mold has not only a molding function but also a holding function, the processing apparatus is compactly formed as compared with a case where a holding hand is provided separately from the mold as in the conventional example.
　また、例えば、加工前の被加工物を加工場所まで搬送した後、被加工物の加工工程に移る場合には、被加工物を保持する保持部と一体の第１型を用いて被加工物の加工が直ちに行える。また、例えば、被加工物の加工工程の後、加工後の被加工物を搬送する場合には、加工後、直ちに第１型と一体の保持部により被加工物を保持して搬送することが可能になる。よって、被加工物の搬入、加工、搬出の一連の工程で待ち時間が短縮される。 In addition, for example, when the workpiece before processing is transported to the processing place and then transferred to the processing step of the workpiece, the workpiece is used by using the first mold integrated with the holding portion for holding the workpiece. Can be processed immediately. In addition, for example, when the processed workpiece is transported after the processing step of the workpiece, the workpiece can be held and transported immediately after the processing by the holding unit integrated with the first mold. It becomes possible. Therefore, the waiting time is shortened in a series of steps of carrying in, processing and carrying out the workpiece.
　第２の発明では、第１の発明において、被加工物に予備加工を施すための予備加工型と、予備加工後の被加工物に本加工を施して最終形状とするための本加工型とが第１型であり、上記予備加工型及び上記本加工型には、保持部がそれぞれ設けられるとともに、搬送装置に着脱される着脱部がそれぞれ設けられていることを特徴とするものである。 According to a second invention, in the first invention, a preliminary processing die for performing preliminary processing on the workpiece, and a main processing die for performing final processing on the workpiece after preliminary processing to obtain a final shape; Is a first mold, and the preliminary machining die and the main machining die are each provided with a holding portion and an attachment / detachment portion that is attached to and detached from the conveying device.
　この構成によれば、予備加工型と本加工型とがそれぞれ搬送装置に着脱される。従って、予備加工型を搬送装置に装着し、この予備加工型の保持部で加工前の被加工物を保持して加工場所まで搬送し、予備加工を直ちに行い、その後、予備加工型を搬送装置から外して本加工型を搬送装置に装着し、本加工型で被加工物に本加工を行った後、本加工型の保持部で被加工物を保持して加工場所から直ちに搬送することが可能となる。 According to this configuration, the preliminary processing die and the main processing die are respectively attached to and detached from the transfer device. Therefore, the preliminary processing die is mounted on the transfer device, the workpiece before processing is held by the holding portion of the preliminary processing die and transferred to the processing place, the preliminary processing is performed immediately, and then the preliminary processing die is transferred to the transfer device. The processing die is mounted on the transport device, and the workpiece is processed with the processing die, and then the workpiece is held by the holding portion of the processing die and immediately conveyed from the processing location. It becomes possible.
　第３の発明では、第２の発明において、予備加工型を搬送する予備加工型搬送装置と、本加工型を搬送する本加工型搬送装置とを備え、上記各搬送装置はロボットで構成されていることを特徴とする。 According to a third aspect, in the second aspect, the apparatus includes a preliminary processing mold transfer device that transfers the preliminary processing die and a main processing die transfer device that transfers the main processing die, and each of the transfer devices includes a robot. It is characterized by being.
　この構成によれば、予備加工型及び本加工型を別々のロボットで搬送することが可能になる。これにより、予備加工を起こっているときに、本加工型をロボットに装着して用意しておくことが可能になるので、一連の工程における待ち時間をより短縮できる。 This configuration makes it possible to transport the preliminary machining die and the main machining die with different robots. As a result, when preliminary machining is occurring, the machining die can be mounted on the robot and prepared, so that the waiting time in a series of steps can be further reduced.
　第４の発明では、第１から３のいずれか１つの発明において、第１型には、被加工物を第２型へ押さえるためのプレッサー装置が一体化されていることを特徴とする。 The fourth invention is characterized in that, in any one of the first to third inventions, the first mold is integrated with a presser device for pressing the workpiece to the second mold.
　この構成によれば、プレッサー装置を含む加工装置の全体がコンパクトにまとまることになる。 According to this configuration, the entire processing device including the presser device is compactly collected.
　第５の発明では、第１から４のいずれか１つの発明において、搬送装置が第１型を第２型に接近する方向に駆動することを特徴とする。 The fifth invention is characterized in that, in any one of the first to fourth inventions, the transport device drives the first mold in a direction approaching the second mold.
　この構成によれば、搬送装置によって被加工物の加工が行えるようになる。 According to this configuration, the workpiece can be processed by the transfer device.
　第１の発明によれば、搬送装置に第１型を取り付け、第１型に被加工物を保持する保持部を一体化したので、第１型に被加工物の保持機能を持たせることができる。これにより、加工装置をコンパクトにして加工装置の設置に要するスペースを縮小できるとともに、コストを削減できる。また、第１型と一体の保持部で被加工物を保持できるので、被加工物の搬送後に直ちに加工を施すことや、加工を行った後に直ちに搬送することができる。これにより、被加工物の搬入、加工、搬出の一連の工程で待ち時間を短縮して製造工数を削減でき、生産効率を向上できる。 According to the first invention, the first die is attached to the transport device, and the holding portion for holding the workpiece is integrated with the first die, so that the first die can have a holding function for the workpiece. it can. Thereby, the processing device can be made compact, the space required for the installation of the processing device can be reduced, and the cost can be reduced. In addition, since the workpiece can be held by the holding unit integrated with the first mold, the workpiece can be processed immediately after the workpiece is transferred, or can be transferred immediately after the processing. As a result, the waiting time can be shortened in a series of steps of loading, processing, and unloading the workpiece, thereby reducing the number of manufacturing steps and improving the production efficiency.
　第２の発明によれば、予備加工型及び本加工型に、保持部をそれぞれ設けるとともに、搬送装置に着脱される着脱部をそれぞれ設けたので、予備加工型及び本加工型を用いて被加工物を搬送できる。よって、予備加工と本加工とを施す必要がある場合においても製造工数を削減できる。 According to the second aspect of the present invention, since the preliminary processing die and the main processing die are each provided with the holding portion and the attachment / detachment portion to be attached to and detached from the transfer device is provided, the workpiece is processed using the preliminary processing die and the main processing die. You can transport things. Therefore, the number of manufacturing steps can be reduced even when preliminary processing and main processing need to be performed.
　第３の発明によれば、予備加工型搬送装置と、本加工型搬送装置とをロボットで構成したので、両加工型を同時に移動させることができる。これにより、待ち時間をより短縮でき、生産効率をより一層向上できる。 According to the third aspect of the invention, since the preliminary processing type transfer device and the main processing type transfer device are configured by the robot, both the processing dies can be moved simultaneously. Thereby, waiting time can be shortened more and production efficiency can be improved further.
　第４の発明によれば、第１型にプレッサー装置を一体化したので、加工装置をより一層コンパクトにできる。 According to the fourth invention, since the presser device is integrated with the first mold, the processing device can be made more compact.
　第５の発明によれば、搬送装置が第１型を第２型に接近する方向に駆動するので、搬送装置によって被加工物を加工することができる。 According to the fifth invention, the conveying device drives the first mold in the direction approaching the second mold, so that the workpiece can be processed by the conveying device.
実施形態１にかかる加工装置の斜視図である。It is a perspective view of the processing apparatus concerning Embodiment 1. FIG. 予備曲げ装置をドアに重ねた状態の図１相当図である。FIG. 2 is a view corresponding to FIG. 予備曲げ加工状態を示す図１相当図である。FIG. 2 is a view corresponding to FIG. 1 showing a pre-bending state. 予備曲げ装置を元の場所に戻した状態の図１相当図である。FIG. 2 is a view corresponding to FIG. 1 in a state where the preliminary bending apparatus is returned to the original place. 予備曲げ装置及び下型の部分断面図である。It is a partial sectional view of a preliminary bending device and a lower mold. 予備曲げ加工を施す場合の図５相当図である。FIG. 6 is a view corresponding to FIG. 5 in a case where a preliminary bending process is performed. 予備曲げ装置及び下型の一部を拡大して示す斜視図である。It is a perspective view which expands and shows a part of preliminary | backup bending apparatus and a lower mold | type. 本曲げ装置及び下型の部分断面図である。It is a fragmentary sectional view of this bending apparatus and a lower mold. 本曲げ加工を施す場合の図８相当図である。FIG. 9 is a view corresponding to FIG. 8 when performing the main bending process. 本曲げ加工状態を示す図１相当図である。FIG. 2 is a view corresponding to FIG. 実施形態１の変形例１にかかる図１相当図である。FIG. 6 is a diagram corresponding to FIG. 1 according to a first modification of the first embodiment. 実施形態１の変形例２にかかる加工装置を側方から見た部分断面図である。It is the fragmentary sectional view which looked at the processing apparatus concerning the modification 2 of Embodiment 1 from the side. 実施形態１の変形例３にかかる予備曲げパンチを示す断面図である。It is sectional drawing which shows the preliminary | backup bending punch concerning the modification 3 of Embodiment 1. FIG. 実施形態２にかかる加工装置の部分断面図である。It is a fragmentary sectional view of the processing device concerning Embodiment 2. 本曲げ加工状態を示す図１６相当図である。FIG. 17 is a view corresponding to FIG. 実施形態２の変形例にかかり、予備曲げ状態の上板及びロッドの断面図である。It is sectional drawing of the upper board and rod which require a modification of Embodiment 2 and is a preliminary | backup bending state. 本曲げ状態の図１４相当図である。FIG. 15 is a view corresponding to FIG. 14 in the final bending state.
　以下、本発明の実施形態を図面に基づいて詳細に説明する。尚、以下の好ましい実施形態の説明は、本質的に例示に過ぎず、本発明、その適用物或いはその用途を制限することを意図するものではない。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. It should be noted that the following description of the preferred embodiment is merely illustrative in nature, and is not intended to limit the present invention, its application, or its use.
　（実施形態１）
　図１は、本発明の実施形態１にかかる加工装置１を示すものである。この加工装置１は、自動車のドアＡを製造する際に用いられるものである。 (Embodiment 1)
FIG. 1 shows a processing apparatus 1 according to Embodiment 1 of the present invention. This processing apparatus 1 is used when manufacturing the door A of a motor vehicle.
　加工装置１で加工されるドア（被加工物）Ａは、車室側に位置するインナパネルＰ１と、車外側に位置するアウタパネルＰ２とを備えている。インナパネルＰ１及びアウタパネルＰ２は、それぞれ、鋼板をプレス加工してなるものである。インナパネルＰ１及びアウタパネルＰ２にはサッシュ部分を形成するための枠部が設けられている。また、インナパネルＰ１の周縁部は、アウタパネルＰ２の周縁部近傍に板厚方向に重ね合わされている。この状態で、アウタパネルＰ２の周縁部は、インナパネルＰ１の周縁部を挟持するようにインナパネルＰ１側へ折り曲げられ、ヘミング加工が施されている。このヘミング加工を施す際に本発明の加工装置１が用いられる。また、詳細は後述するが、アウタパネルＰ２の周縁部は、予備曲げ加工（予備加工）と、予備曲げ加工後の本曲げ加工（本加工）とを施して最終形状となる。 The door (workpiece) A processed by the processing apparatus 1 includes an inner panel P1 positioned on the vehicle compartment side and an outer panel P2 positioned on the vehicle exterior side. The inner panel P1 and the outer panel P2 are each formed by pressing a steel plate. The inner panel P1 and the outer panel P2 are provided with a frame portion for forming a sash portion. Further, the peripheral edge of the inner panel P1 is overlapped in the thickness direction in the vicinity of the peripheral edge of the outer panel P2. In this state, the peripheral portion of the outer panel P2 is bent toward the inner panel P1 so as to sandwich the peripheral portion of the inner panel P1, and is hemmed. When this hemming is performed, the processing apparatus 1 of the present invention is used. Although details will be described later, the peripheral portion of the outer panel P2 is subjected to a preliminary bending process (preliminary process) and a final bending process (main process) after the preliminary bending process to obtain a final shape.
　加工装置１は、上記ヘミング加工を施すためのヘミング加工装置である。加工装置１は、工場の床面に固定される固定型としての下型（第２型）１１と、本曲げ装置５０と、予備曲げ装置５１と、ロボット（搬送装置）Ｒとを備えている。ロボットＲにより、本曲げ装置５０及び予備曲げ装置５１の搬送と、ドアＡの搬送とが行えるようになっている。また、本曲げ装置５０と下型１１とでドアＡに本曲げ加工を施し、また、予備曲げ装置５１と下型１１とでドアＡに予備曲げ加工を施すことができるようになっている。 The processing device 1 is a hemming processing device for performing the above hemming processing. The processing apparatus 1 includes a lower mold (second mold) 11 as a fixed mold fixed to a factory floor, a main bending apparatus 50, a preliminary bending apparatus 51, and a robot (conveyance apparatus) R. . The robot R can carry the main bending device 50 and the pre-bending device 51 and the door A. Further, the main bending apparatus 50 and the lower mold 11 can be used to perform a final bending process on the door A, and the preliminary bending apparatus 51 and the lower mold 11 can be used to perform a preliminary bending process on the door A.
　下型１１は枠状に形成されている。下型１１の周囲には、脚２１，２１，…が設けられている。各脚２１は、上下方向に延びている。下型１１は、ドアＡを成形するための成形面が上に向くように配置されている。この成形面にドアＡのアウタパネルＰ２が載置されて支持されるようになっている。 The lower mold 11 is formed in a frame shape. Legs 21, 21,... Are provided around the lower mold 11. Each leg 21 extends in the vertical direction. The lower mold 11 is arranged such that a molding surface for molding the door A faces upward. The outer panel P2 of the door A is placed and supported on the molding surface.
　下型１１の上面の周縁部近傍には、本曲げ装置５０及び予備曲げ装置５１を位置決めするための複数のガイドピン１１ａ，１１ａ，…が設けられている。ガイドピン１１ａ，１１ａ，…は、本曲げ装置５０及び予備曲げ装置５１を案内して下型１１の所定位置に導くためのものであり、下型１１の周方向に間隔をあけて配置されている。各ガイドピン１１ａは上方へ突出しており、上部は先細形状となっている。 A plurality of guide pins 11 a, 11 a,... For positioning the main bending device 50 and the pre-bending device 51 are provided in the vicinity of the peripheral edge of the upper surface of the lower mold 11. The guide pins 11a, 11a,... Guide the main bending device 50 and the preliminary bending device 51 and guide them to a predetermined position of the lower die 11, and are arranged at intervals in the circumferential direction of the lower die 11. Yes. Each guide pin 11a protrudes upward, and the upper part has a tapered shape.
　下型１１の周縁部近傍には、上下方向に貫通する複数の貫通孔１１ｂ，１１ｂ，…が設けられている。貫通孔１１ｂ，１１ｂ，…は、下型１１の周方向に間隔をあけて配置されている。 A plurality of through holes 11b, 11b,... Penetrating in the vertical direction are provided in the vicinity of the periphery of the lower mold 11. The through holes 11b, 11b,... Are arranged at intervals in the circumferential direction of the lower mold 11.
　下型１１には、複数の型駆動装置１３，１３，…が設けられている。型駆動装置１３は、油圧シリンダ装置で構成されており、ロッド１３ａと、シリンダ１３ｂと、ロッド１３ａを中心軸周りに回動させる回動装置１３ｃとを備えている。型駆動装置１３のロッド１３ａのストローク量は例えば５ｍｍ～１０ｍｍ程度あればよいので、ストローク量の少ないタイプの油圧シリンダ装置が用いられている。型駆動装置１３，１３，…は、下型１１の周縁部に、下型１１の周方向に互いに間隔をあけて、かつ、貫通孔１１ｂに対応するように配置されている。尚、型駆動装置１３は、小型であるため、下型１１の中央部にも配設することも可能である。 The lower mold 11 is provided with a plurality of mold driving devices 13, 13,. The mold driving device 13 is composed of a hydraulic cylinder device, and includes a rod 13a, a cylinder 13b, and a rotating device 13c that rotates the rod 13a around a central axis. Since the stroke amount of the rod 13a of the mold drive device 13 may be about 5 mm to 10 mm, for example, a hydraulic cylinder device of a type with a small stroke amount is used. The mold driving devices 13, 13,... Are arranged at the peripheral edge of the lower mold 11 so as to be spaced from each other in the circumferential direction of the lower mold 11 and to correspond to the through holes 11b. Since the mold driving device 13 is small, it can also be arranged at the center of the lower mold 11.
　型駆動装置１３は、ロッド１３ａが略鉛直に延びるように、かつ、シリンダ１３ｂがロッド１３ａの下に位置するように配置されている。シリンダ１３ｂは、下型１１の下面において下方へ突出するように固定されている。 The mold driving device 13 is arranged so that the rod 13a extends substantially vertically and the cylinder 13b is positioned below the rod 13a. The cylinder 13b is fixed on the lower surface of the lower mold 11 so as to protrude downward.
　ロッド１３ａは、下型１１の貫通孔１１ｂに挿通され、貫通孔１１ｂ内を上下方向に移動するようになっている。ロッド１３ａの先端部（上端部）には、係合部材１３ｄが固定されている。この係合部材１３ｄは、ロッド１３ａの径方向に延びる略矩形板状に形成されている。係合部材１３ｄの長手方向両端部は、ロッド１３ａの外周面よりも径方向両側にそれぞれ突出している。 The rod 13a is inserted into the through hole 11b of the lower mold 11 and moves in the vertical direction in the through hole 11b. An engaging member 13d is fixed to the tip (upper end) of the rod 13a. The engaging member 13d is formed in a substantially rectangular plate shape that extends in the radial direction of the rod 13a. Both end portions in the longitudinal direction of the engaging member 13d protrude from the outer peripheral surface of the rod 13a on both sides in the radial direction.
　本曲げ装置５０は、ドアＡを保持することができるように構成されており、全体として、アウタパネルＰ２の被加工部分に対応した枠状に形成されている。本曲げ装置５０には、互いに離れた部位同士を連結するように延びるフレーム部５４が設けられている。フレーム部５４には、本曲げ装置５０の中心部近傍に、ロボットＲのアームが着脱される着脱部５５が設けられている。着脱部５５は、周知のオートツールチェンジャである。着脱部５５とロボットＲのアームとは、図示しないアクチュエータによって装着状態と離脱可能状態とに自動的に切り替えられるようになっている。 The present bending apparatus 50 is configured to hold the door A, and is formed in a frame shape corresponding to the processed portion of the outer panel P2 as a whole. The bending device 50 is provided with a frame portion 54 that extends so as to connect portions separated from each other. The frame portion 54 is provided with an attachment / detachment portion 55 to / from which the arm of the robot R is attached / detached near the center of the bending apparatus 50. The detachable portion 55 is a known auto tool changer. The detachable portion 55 and the arm of the robot R can be automatically switched between a mounting state and a detachable state by an actuator (not shown).
　本曲げ装置５０は、図９及び図１０に示すように、下型１１の上面に載置可能となっている。本曲げ装置５０には、型駆動装置１３のロッド１３ａと対向する部分に、ロッド１３ａが挿通するロッド挿通孔５０ａ，５０ａ，…が形成されている。ロッド挿通孔５０ａは、係合部材１３ｄが挿通可能な略矩形状とされている。ロッド挿通孔５０ａの長手方向の内寸は、係合部材１３ｄの長手方向の寸法よりも若干長めに設定されている。ロッド挿通孔５０ａの短径方向の内寸は、平面視における係合部材１３ｄの長手方向に直交する方向の寸法よりも若干長く、かつ、係合部材１３ｄの長手方向の寸法よりも短く設定されている。 The present bending apparatus 50 can be placed on the upper surface of the lower mold 11 as shown in FIGS. 9 and 10. In the bending device 50, rod insertion holes 50a, 50a,... Through which the rod 13a is inserted are formed in a portion of the mold driving device 13 facing the rod 13a. The rod insertion hole 50a has a substantially rectangular shape through which the engaging member 13d can be inserted. The inner dimension in the longitudinal direction of the rod insertion hole 50a is set slightly longer than the dimension in the longitudinal direction of the engaging member 13d. The inner dimension in the minor axis direction of the rod insertion hole 50a is set slightly longer than the dimension in the direction orthogonal to the longitudinal direction of the engaging member 13d in plan view and shorter than the dimension in the longitudinal direction of the engaging member 13d. ing.
　従って、係合部材１３ｄの長手方向とロッド挿通孔５０ａの長手方向とを略一致させるように、ロッド１３ａを回動装置１３ｃで回動させると、係合部材１３ｄがロッド挿通孔５０ａを通過可能となる。一方、係合部材１３ｄの長手方向とロッド挿通孔５０ａの長手方向とが交差するように、ロッド１３ａを回動装置１３ｃで回動させると、係合部材１３ｄがロッド挿通孔５０ａの周縁部に接触して係合する。 Accordingly, when the rod 13a is rotated by the rotation device 13c so that the longitudinal direction of the engaging member 13d and the longitudinal direction of the rod insertion hole 50a are substantially matched, the engaging member 13d can pass through the rod insertion hole 50a. It becomes. On the other hand, when the rod 13a is rotated by the rotating device 13c so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 50a, the engaging member 13d is placed on the peripheral edge of the rod insertion hole 50a. Engage in contact.
　係合部材１３ｄをロッド挿通孔５０ａに挿通して上板１５の上方へ突出させた状態で、ロッド挿通孔５０ａの周縁部に係合させると、型駆動装置１３によって、下型１１と本曲げ装置５０とが互いに離脱不能に結合される。一方、係合部材１３ｄをロッド挿通孔５０ａの周縁部に係合させない状態では、下型１１と本曲げ装置５０とが互いに離脱可能な非結合状態とされる。 When the engaging member 13d is inserted through the rod insertion hole 50a and protrudes upward from the upper plate 15, and is engaged with the peripheral edge of the rod insertion hole 50a, the die driving device 13 causes the lower mold 11 and the main bending portion to be bent. The device 50 is coupled to each other in a non-detachable manner. On the other hand, in a state where the engaging member 13d is not engaged with the peripheral edge portion of the rod insertion hole 50a, the lower die 11 and the main bending device 50 are in a non-coupled state in which they can be separated from each other.
　型駆動装置１３，１３，…には、図示しない油圧回路から延びる油圧配管が接続されている。油圧回路には制御装置が接続されており、この制御装置により、型駆動装置１３の動作タイミングやストローク量が制御されるようになっている。 A hydraulic pipe extending from a hydraulic circuit (not shown) is connected to the mold driving devices 13, 13,. A control device is connected to the hydraulic circuit, and the operation timing and stroke amount of the mold drive device 13 are controlled by this control device.
　また、型駆動装置１３の回動装置１３ｃは、電動モーター等で構成されている。回動装置１３ｃも制御装置によって制御される。 Further, the rotation device 13c of the mold driving device 13 is constituted by an electric motor or the like. The rotation device 13c is also controlled by the control device.
　図１に示すように、本曲げ装置５０には、ガイドピン１１ａが挿通するガイドピン挿通孔５０ｂが形成されている。 As shown in FIG. 1, the bending apparatus 50 is formed with a guide pin insertion hole 50b through which the guide pin 11a is inserted.
　さらに、図８に示すように、本曲げ装置５０は、ドアＡを吸着するための複数の吸着装置（保持部）５６，５６と、プレッサー装置５７，５７と、本曲げパンチ（第１型）５８，５８と、位置決めピン５９，５９とを備えている。これら吸着装置５６，５６と、プレッサー装置５７，５７と、本曲げパンチ５８，５８とは本曲げ装置５０の本体部分に固定されて一体化されている。尚、プレッサー装置５７は、別体としてもよい。 Furthermore, as shown in FIG. 8, the main bending apparatus 50 includes a plurality of adsorbing apparatuses (holding portions) 56 and 56 for adsorbing the door A, presser apparatuses 57 and 57, and a main bending punch (first type). 58, 58 and positioning pins 59, 59. These suction devices 56, 56, presser devices 57, 57, and main bending punches 58, 58 are fixed and integrated with the main body portion of the main bending device 50. The presser device 57 may be a separate body.
　吸着装置５６には、負圧配管が弁装置（共に図示せず）を介して接続されている。吸着装置５６は、弁装置の開閉動作により、ドアＡとの接触部分に負圧力を作用させる状態と作用させない状態とに切替可能となっている。吸着装置５６のドアＡとの接触部分に負圧力を作用させると、ドアＡを吸着して保持し、一方、負圧力を作用させないと、ドアＡが吸着装置５６から離脱可能となる。 A negative pressure pipe is connected to the adsorption device 56 via a valve device (both not shown). The suction device 56 can be switched between a state in which a negative pressure is applied to a contact portion with the door A and a state in which the suction device 56 is not applied by an opening / closing operation of the valve device. When a negative pressure is applied to the contact portion of the adsorption device 56 with the door A, the door A is adsorbed and held. On the other hand, if no negative pressure is applied, the door A can be detached from the adsorption device 56.
　プレッサー装置５７は、ドアＡのインナパネルＰ１を上方から押さえてアウタパネルＰ２に押し付け、固定しておくためのものである。プレッサー装置５７は、インナパネルＰ１に接するパッド５７ａを備えている。プレッサー装置５７は、パッド５７ａを下方へ付勢するためのバネ等からなる付勢部を備えている。この付勢部によってパッド５７ａをインナパネルＰ１に所定の力で押し付けることができるようになっている。 The presser device 57 is for pressing and fixing the inner panel P1 of the door A from above and pressing it against the outer panel P2. The presser device 57 includes a pad 57a that is in contact with the inner panel P1. The presser device 57 includes an urging unit including a spring or the like for urging the pad 57a downward. By this urging portion, the pad 57a can be pressed against the inner panel P1 with a predetermined force.
　本曲げパンチ５８は、ドアＡの被加工部分に本曲げ加工を施すためのものである。本曲げ加工とは、後述する予備曲げ加工が施された被加工部分に施して該被加工部分を最終形状に仕上げるための加工である。本曲げパンチ５８は、ドアＡの被加工部分に対応して、平面視で環状に配置されている。 The main bending punch 58 is for subjecting the processed part of the door A to the main bending process. The main bending process is a process for finishing the processed part in a final shape by applying it to the processed part subjected to the pre-bending process described later. The main bending punch 58 is annularly arranged in a plan view corresponding to the processed portion of the door A.
　また、位置決めピン５９は、下方へ突出している。位置決めピン５９は、ドアＡの所定部位に形成された孔部（図示せず）に挿入され、ドアＡの位置を本曲げ装置５０に対し所定位置とするためのものである。 Also, the positioning pin 59 protrudes downward. The positioning pin 59 is inserted into a hole (not shown) formed in a predetermined part of the door A, and is used for setting the position of the door A to a predetermined position with respect to the bending apparatus 50.
　上記のように本曲げ装置５０は、ドアＡを保持する機能と、ドアＡを成形する機能とを有している。 As described above, the bending apparatus 50 has a function of holding the door A and a function of forming the door A.
　図１に示すように、本曲げ装置５０は、ブロックＢ１上に載置されている。このブロックＢ１上に載置された状態が加工準備状態である。 As shown in FIG. 1, the bending apparatus 50 is placed on the block B1. A state of being placed on the block B1 is a processing preparation state.
　予備曲げ装置５１も、ドアＡを保持することができるように構成されており、基本的な構造は、本曲げ装置５０と同じである。すなわち、図５及び図６に示すように、予備曲げ装置５１は、フレーム部６０及び着脱部６１を備えている。予備曲げ装置５１には、ロッド挿通孔５１ａ及びガイドピン挿通孔５１ｂ（図１に示す）が形成されている。また、予備曲げ装置５１には、予備曲げパンチ７０が設けられている。予備曲げパンチ７０は、予備曲げ専用の形状となっている。本曲げ装置５０のものと同様な吸着装置５６、プレッサー装置５７及び位置決めピン５９が予備曲げ装置５１にも設けられている。 The preliminary bending device 51 is also configured to be able to hold the door A, and the basic structure is the same as that of the main bending device 50. That is, as shown in FIGS. 5 and 6, the preliminary bending apparatus 51 includes a frame portion 60 and an attachment / detachment portion 61. In the preliminary bending device 51, a rod insertion hole 51a and a guide pin insertion hole 51b (shown in FIG. 1) are formed. The preliminary bending device 51 is provided with a preliminary bending punch 70. The preliminary bending punch 70 has a shape exclusively for preliminary bending. A suction device 56, a presser device 57 and a positioning pin 59 similar to those of the bending device 50 are also provided in the preliminary bending device 51.
　予備曲げ装置５１は、ブロックＢ２上に載置されている。この予備曲げ装置５１も、ドアＡを保持する機能と、ドアＡを成形する機能とを有している。 The pre-bending device 51 is placed on the block B2. The preliminary bending device 51 also has a function of holding the door A and a function of forming the door A.
　予備曲げとは、アウタパネルＰ２の被加工部分を倒すように曲げることであり、完全なヘミング加工を施す前工程である。 “Preliminary bending” refers to bending the processed portion of the outer panel P2 so as to be tilted, and is a pre-process for performing complete hemming.
　尚、図　中の符号Ｃは、加工前のドアＡを載置しておくための載置台である。ドアＡは、インナパネルＰ１側が上となる姿勢で載置台Ｃに載置されている。 In addition, the code | symbol C in a figure is a mounting base for mounting the door A before a process. The door A is mounted on the mounting table C in a posture with the inner panel P1 side facing up.
　次に、上記のように構成された加工装置１を用いてドアＡのアウタパネルＰ２にヘミング加工を施す場合について説明する。 Next, a case where hemming is performed on the outer panel P2 of the door A using the processing apparatus 1 configured as described above will be described.
　尚、型駆動装置１３のロッド１３ａの係合部材１３ｄは、予備曲げ装置５１のロッド挿通孔５１ａ及び本曲げ装置５０のロッド挿通孔５０ａの周縁部と係合しないように、回動装置１３ｃにより回動させておく。 The engaging member 13d of the rod 13a of the mold driving device 13 is not engaged with the peripheral edge of the rod insertion hole 51a of the pre-bending device 51 and the rod insertion hole 50a of the main bending device 50 by the rotating device 13c. Keep rotating.
　まず、ロボットＲが予備曲げ装置５１を取る。すなわち、ロボットＲがアームを動かして、アームの先端に設けられた固定部Ｒ１を予備曲げ装置５１の着脱部６１に重ね、着脱部６１を固定部Ｒ１に装着する。 First, the robot R takes the preliminary bending device 51. That is, the robot R moves the arm, the fixing portion R1 provided at the tip of the arm is overlapped with the attaching / detaching portion 61 of the preliminary bending apparatus 51, and the attaching / detaching portion 61 is attached to the fixing portion R1.
　その後、ロボットＲが予備曲げ装置５１を動かして載置台Ｃに載置されているドアＡを保持する。このとき、図２に示すように、予備曲げ装置５１をドアＡに上方から重ね、図５に示すように、位置決めピン５９をドアＡの位置決め孔に挿入し、さらに吸着装置５６を作動させてドアＡを吸着し、保持する。尚、図２では、便宜上、ロボットＲを静止した状態としているが、実際にはアームが動いている。 Thereafter, the robot R moves the preliminary bending device 51 to hold the door A mounted on the mounting table C. At this time, as shown in FIG. 2, the pre-bending device 51 is overlapped on the door A from above, and the positioning pins 59 are inserted into the positioning holes of the door A as shown in FIG. Adsorb and hold door A. In FIG. 2, for convenience, the robot R is in a stationary state, but the arm is actually moving.
　そして、図３に示すように、ロボットＲは、ドアＡを保持した予備曲げ装置５１を下型１１の上に載置する。予備曲げ装置５１を下型１１の上に載置する際、ガイドピン１１ａが予備曲げ装置５１のガイドピン挿通孔５１ｂに挿通し、予備曲げ装置５１がガイドピン１１ａによって案内されて下型１１の所定位置に載置される。また、図６に示すように、型駆動装置１３のロッド１３ａが予備曲げ装置５１のロッド挿通孔５１ａに挿通して係合部材１３ｄがロッド挿通孔５１ａから上方へ突出する。 Then, as shown in FIG. 3, the robot R places the preliminary bending device 51 holding the door A on the lower mold 11. When the preliminary bending device 51 is placed on the lower mold 11, the guide pin 11 a is inserted into the guide pin insertion hole 51 b of the preliminary bending device 51, and the preliminary bending device 51 is guided by the guide pin 11 a to It is placed at a predetermined position. Further, as shown in FIG. 6, the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 51a of the preliminary bending device 51, and the engaging member 13d protrudes upward from the rod insertion hole 51a.
　係合部材１３ｄがロッド挿通孔５１ａから上方へ突出した状態で、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、図７に示すように係合部材１３ｄの長手方向をロッド挿通孔５１ａの長手方向と交差させる。これにより、係合部材１３ｄが予備曲げ装置５１のロッド挿通孔５１ａの周縁部に係合して、下型１１と予備曲げ装置５１とが結合する。 In a state where the engaging member 13d protrudes upward from the rod insertion hole 51a, the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d as shown in FIG. Is made to intersect with the longitudinal direction of the rod insertion hole 51a. Thereby, the engaging member 13d engages with the peripheral edge portion of the rod insertion hole 51a of the preliminary bending device 51, and the lower mold 11 and the preliminary bending device 51 are coupled.
　しかる後、型駆動装置１３のロッド１３ａを縮めると、予備曲げ装置５１の予備曲げパンチ７０が下型１１に接近する方向に駆動される。予備曲げ装置５１の予備曲げパンチ７０が駆動されると、アウタパネルＰ２の被加工部分に、予備曲げ加工が施される。 Thereafter, when the rod 13a of the die driving device 13 is contracted, the pre-bending punch 70 of the pre-bending device 51 is driven in a direction approaching the lower die 11. When the pre-bending punch 70 of the pre-bending device 51 is driven, the pre-bending process is performed on the processed part of the outer panel P2.
　つまり、ドアＡを搬送した予備曲げ装置５１を用いて被加工部分に直ちに予備曲げ加工を施すことが可能になる。 That is, it is possible to immediately perform a preliminary bending process on the part to be processed using the preliminary bending apparatus 51 that has conveyed the door A.
　アウタパネルＰ２の被加工部分の予備曲げが完了すると、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、係合部材１３ｄの長手方向を予備曲げ装置５１のロッド挿通孔５１ｂの長手方向と一致させる。 When the preliminary bending of the processed portion of the outer panel P2 is completed, the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 51b of the preliminary bending device 51. It is made to correspond with the longitudinal direction.
　次いで、予備曲げ装置５１の吸着装置５６に吸着力が発生しないようにし、ドアＡを下型１１に残したまま、予備曲げ装置５１のみをロボットＲにより保持して台Ｂ２まで搬送し、台Ｂ２に置く（図４に示す）。 Next, the suction force is not generated in the suction device 56 of the pre-bending device 51, and only the pre-bending device 51 is held by the robot R and conveyed to the table B2 while the door A remains in the lower mold 11, and the table B2 (Shown in FIG. 4).
　予備曲げ装置５１を台Ｂ２に置いた後、ロボットＲは、本曲げ装置５０を取る。すなわち、図８に示すように、ロボットＲがアームを動かして、アームの固定部Ｒ１を本曲げ装置５０の着脱部５５に重ね、着脱部５５を固定部Ｒ１に装着する。 After placing the pre-bending device 51 on the table B2, the robot R takes the main bending device 50. That is, as shown in FIG. 8, the robot R moves the arm, the arm fixing portion R1 is overlaid on the attaching / detaching portion 55 of the bending apparatus 50, and the attaching / detaching portion 55 is attached to the fixing portion R1.
　そして、図９及び図１０に示すように、ロボットＲは、本曲げ装置５０を下型１１の上に載置する。本曲げ装置５０を下型１１の上に載置する際、ガイドピン１１ａが本曲げ装置５０のガイドピン挿通孔５０ｂに挿通し、本曲げ装置５０がガイドピン１１ａによって案内されて下型１１の所定位置に載置される。また、型駆動装置１３のロッド１３ａが本曲げ装置５０のロッド挿通孔５０ａに挿通して係合部材１３ｄがロッド挿通孔５０ａから上方へ突出する。 Then, as shown in FIGS. 9 and 10, the robot R places the bending apparatus 50 on the lower mold 11. When the main bending device 50 is placed on the lower mold 11, the guide pin 11 a is inserted into the guide pin insertion hole 50 b of the main bending device 50, and the main bending device 50 is guided by the guide pin 11 a to It is placed at a predetermined position. Further, the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 50a of the bending device 50, and the engaging member 13d protrudes upward from the rod insertion hole 50a.
　係合部材１３ｄがロッド挿通孔５０ａから上方へ突出した状態で、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、係合部材１３ｄの長手方向をロッド挿通孔５０ａの長手方向と交差させる。これにより、係合部材１３ｄが本曲げ装置５０のロッド挿通孔５０ａの周縁部に係合して、下型１１と本曲げ装置５０とが結合する。 In a state where the engaging member 13d protrudes upward from the rod insertion hole 50a, the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the length of the rod insertion hole 50a. Cross the longitudinal direction. Thereby, the engaging member 13d engages with the peripheral edge of the rod insertion hole 50a of the main bending device 50, and the lower die 11 and the main bending device 50 are coupled.
　しかる後、型駆動装置１３のロッド１３ａを縮めると、本曲げ装置５０の本曲げパンチ５８が下型１１に接近する方向に駆動される。本曲げ装置５０の本曲げパンチ５８が駆動されると、アウタパネルＰ２の被加工部分に、本曲げ加工が施される。これにより、アウタパネルＰ２の被加工部分が最終形状となる。 Thereafter, when the rod 13a of the die driving device 13 is contracted, the main bending punch 58 of the main bending device 50 is driven in a direction approaching the lower die 11. When the main bending punch 58 of the main bending apparatus 50 is driven, the main bending process is performed on the processed portion of the outer panel P2. Thereby, the to-be-processed part of the outer panel P2 becomes a final shape.
　アウタパネルＰ２の被加工部分の本曲げ加工が完了すると、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、係合部材１３ｄの長手方向を本曲げ装置５０のロッド挿通孔５０ａの長手方向と一致させる。 When the main bending of the part to be processed of the outer panel P2 is completed, the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole of the main bending device 50. It is made to correspond with the longitudinal direction of 50a.
　そして、本曲げ装置５０の吸着装置５６を作動させて吸着装置５６にドアＡを吸着させ、ドアＡを本曲げ装置５０に保持する。この本曲げ装置５０をロボットＲで保持し、ドアＡと共に持ち上げてドアＡを所定場所まで搬送する。 Then, the suction device 56 of the main bending device 50 is operated to cause the suction device 56 to adsorb the door A, and the door A is held by the main bending device 50. The main bending apparatus 50 is held by the robot R and lifted together with the door A to convey the door A to a predetermined place.
　つまり、ドアＡの被加工部分に本曲げ加工を施した本曲げ装置５０を用いてドアＡを直ちに搬送することが可能になる。 That is, it becomes possible to immediately convey the door A using the main bending apparatus 50 that performs the main bending process on the part to be processed of the door A.
　ドアＡを搬送した後、ロボットＲは、本曲げ装置５０を台Ｂ１まで搬送し、台Ｂ１に置く。 After transporting the door A, the robot R transports the bending apparatus 50 to the table B1 and places it on the table B1.
　以上説明したように、この実施形態１にかかる加工装置１によれば、予備曲げ装置５１に予備曲げパンチ５８及び吸着装置５６を設けたので、予備曲げ装置５１に成形機能だけでなく、保持機能も持たせることができる。本曲げ装置５０も同様である。これにより、従来例のように型とは別に保持ハンドを設ける場合に比べて加工装置１がコンパクトにまとまり、設置に要するスペースを縮小できる。 As described above, according to the processing apparatus 1 according to the first embodiment, since the preliminary bending device 51 is provided with the preliminary bending punch 58 and the suction device 56, the preliminary bending device 51 has not only a forming function but also a holding function. Can also be given. The same applies to the bending apparatus 50. Thereby, compared with the case where a holding hand is provided separately from a type | mold like the prior art example, the processing apparatus 1 is gathered compactly and the space required for installation can be reduced.
　また、加工前のドアＡを加工場所にある下型１１まで搬送した後、ドアＡの加工工程に移る場合には、ドアＡを搬送してきた予備曲げ装置５１の予備曲げパンチ５８を用いてドアＡの加工が直ちに行える。また、ドアＡの加工工程の後、加工後のドアＡを搬送する場合には、加工後、直ちに本曲げ装置５０の吸着装置５６によりドアＡを保持して搬送することができる。よって、ドアＡの搬入、加工、搬出の一連の工程で待ち時間を短縮して製造工数を削減でき、生産効率を向上できる。 In addition, when the door A before processing is transported to the lower mold 11 at the processing place and then the door A is processed, the door is used by using the pre-bending punch 58 of the pre-bending device 51 that has transported the door A. A can be processed immediately. Further, when the processed door A is transported after the door A processing step, the door A can be held and transported by the suction device 56 of the main bending device 50 immediately after the processing. Therefore, the waiting time can be shortened in a series of steps of carrying in, processing, and carrying out the door A, thereby reducing the number of manufacturing steps and improving the production efficiency.
　特に、本実施形態では、本曲げ装置５０及び予備曲げ装置５１のそれぞれに吸着装置５６を設けているので、これら本曲げ装置５０及び予備曲げ装置５１を用いてドアＡを搬送できる。よって、予備曲げ加工と本曲げ加工とを施す場合に製造工数を削減できる。 In particular, in this embodiment, since the suction device 56 is provided in each of the main bending device 50 and the pre-bending device 51, the door A can be conveyed using the main bending device 50 and the pre-bending device 51. Therefore, the number of manufacturing steps can be reduced when the preliminary bending process and the main bending process are performed.
　また、本曲げ装置５０及び予備曲げ装置５１にプレッサー装置５７を設けたので、プレッサー装置５７を含む加工装置１をより一層コンパクトにできる。 Further, since the presser device 57 is provided in the main bending device 50 and the pre-bending device 51, the processing device 1 including the presser device 57 can be made more compact.
　また、本曲げパンチ５８を有する本曲げ装置５０をロボットＲにより移動させて下型１１上に置き、この状態にある本曲げ装置５０を型駆動装置１３により駆動してアウタパネルＰ２に加工力を作用させるようにしたので、型駆動装置１３をストローク量の少ない小型なものとすることができ、これにより、加工装置１を小型化することができる。 Further, the main bending apparatus 50 having the main bending punch 58 is moved by the robot R and placed on the lower mold 11, and the main bending apparatus 50 in this state is driven by the mold driving apparatus 13 to apply a processing force to the outer panel P2. Thus, the mold driving device 13 can be made small with a small stroke amount, and thus the processing device 1 can be miniaturized.
　尚、図１１に示す実施形態１の変形例１のように、加工装置１は、下型１１、本曲げ装置５０及び予備曲げ装置５１の他に、第１ロボットＲａと第２ロボットＲｂとを備えたものであってもよい。 In addition to the lower die 11, the main bending device 50, and the preliminary bending device 51, the processing device 1 includes a first robot Ra and a second robot Rb as in Modification 1 of Embodiment 1 shown in FIG. It may be provided.
　以下、この変形例１にかかる加工装置１を用いてドアＡを加工する場合について説明する。 Hereinafter, the case where the door A is processed using the processing apparatus 1 according to the first modification will be described.
　第１ロボットＲａは、本曲げ装置５０を取り、本曲げ装置５０を動かして載置台Ｃに載置されているドアＡを保持する。そして、ドアＡを保持した本曲げ装置５０を下型１１の上に置き、吸着装置５６に吸着力を発生させないようにして、ドアＡを下型１１に残したまま、本曲げ装置５０のみを第１ロボットＲａにより保持させて待機させる。 The first robot Ra takes the main bending device 50 and moves the main bending device 50 to hold the door A mounted on the mounting table C. Then, the main bending device 50 holding the door A is placed on the lower mold 11 so that the suction device 56 does not generate an adsorption force, and only the main bending device 50 is left with the door A remaining on the lower mold 11. The robot is held by the first robot Ra and waits.
　次いで、第２ロボットＲｂが予備曲げ装置５１を取り、下型１１上に置く。そして、上述のようにして型駆動装置１３により予備曲げ加工を施す。このとき、予備曲げ装置５１の自重を利用して予備曲げを行ってもよいし、第２ロボットＲｂによって予備曲げ装置５１を下方へ押さえることによって予備曲げを行ってもよい。 Next, the second robot Rb takes the preliminary bending device 51 and places it on the lower mold 11. Then, a pre-bending process is performed by the mold driving device 13 as described above. At this time, the pre-bending may be performed using the weight of the pre-bending device 51, or the pre-bending may be performed by pressing the pre-bending device 51 downward by the second robot Rb.
　予備曲げが終了すると、第２ロボットＲｂが下型１１上の予備曲げ装置５１を取り、下型１１から外す。 When the preliminary bending is completed, the second robot Rb takes the preliminary bending device 51 on the lower mold 11 and removes it from the lower mold 11.
　しかる後、第１ロボットＲａが保持している本曲げ装置５０を下型１１上に置く。そして、上述のようして型駆動装置１３により本曲げ加工を施す。 Thereafter, the main bending device 50 held by the first robot Ra is placed on the lower mold 11. Then, the main bending process is performed by the mold driving device 13 as described above.
　本曲げが終了すると、本曲げ装置５０にドアＡを吸着させ、第１ロボットＲａが本曲げ装置５０とドアＡを下型１１から外し、ドアＡを所定場所まで搬送する。 When the final bending is completed, the door A is adsorbed to the main bending device 50, the first robot Ra removes the main bending device 50 and the door A from the lower mold 11, and conveys the door A to a predetermined place.
　変形例１において、第１ロボットＲａに予備曲げ装置５１を保持させて待機させるようにしてもよい。この場合は、載置台Ｃに置いてあるドアＡを予備曲げ装置５１によって取り、下型１１上に置くようにする。また、本曲げ加工後のドアは、予備曲げ装置５１で搬送する。 In the first modification, the preliminary bending device 51 may be held by the first robot Ra and waited. In this case, the door A placed on the mounting table C is taken by the preliminary bending device 51 and placed on the lower mold 11. Further, the door after the main bending is conveyed by the preliminary bending device 51.
　上記実施形態１では、予備曲げ加工を行う際に型駆動装置１３の動力を利用しているが、これに限らず、予備曲げ装置５１の重さを、該予備曲げ装置５１をドアＡに置くだけで予備曲げ加工を施すことができるように、予備曲げ加工可能な重さとして、予備曲げ装置５１の重量で予備曲げ加工を行うようにしてもよい。 In the first embodiment, the power of the die driving device 13 is used when performing the pre-bending process. However, the present invention is not limited to this, and the weight of the pre-bending device 51 is set on the door A. The pre-bending may be performed with the weight of the pre-bending device 51 as the weight capable of the pre-bending so that the pre-bending can be performed only by the weight.
　また、ロボットＲによって予備曲げ装置５１を下型１１に押し付けて予備曲げを行ってもよい。 Alternatively, the preliminary bending may be performed by pressing the preliminary bending device 51 against the lower mold 11 by the robot R.
　また、予備曲げ加工中にロボットＲのアームを予備曲げ装置５１から離してもよいし、装着したままにしておいてもよい。また、本曲げ中にロボットＲのアームを本曲げ装置５０から離してもよいし、装着したままにしてもおいてもよい。 Further, the arm of the robot R may be separated from the preliminary bending device 51 during the preliminary bending process, or may be left attached. Further, the arm of the robot R may be separated from the main bending apparatus 50 during the main bending, or may be left attached.
　また、上記実施形態１では、下型１１を床面に固定しているが、これに限らず、例えば、下型１１を別のロボット（図示せず）に持たせるようにしてもよい。これにより、下型１１を任意の場所に移動することができ、予備曲げ加工及び本曲げ加工を施すのに要する時間を短縮することができる。 In the first embodiment, the lower mold 11 is fixed to the floor. However, the present invention is not limited to this. For example, the lower mold 11 may be held by another robot (not shown). Thereby, the lower mold | type 11 can be moved to arbitrary places, and the time required to perform a pre-bending process and this bending process can be shortened.
　すなわち、図１２に示す変形例２のように、予備曲げ装置５１を第１ロボットＲａで移動させ、下型１１を第２ロボットＲｂで移動させる。下型１１には、フレーム１００が設けられている。フレーム１００には、第２ロボットＲｂのアームが着脱される着脱部１０１が設けられている。着脱部１０１は、周知のオートツールチェンジャである。 That is, as in Modification 2 shown in FIG. 12, the preliminary bending device 51 is moved by the first robot Ra, and the lower mold 11 is moved by the second robot Rb. The lower mold 11 is provided with a frame 100. The frame 100 is provided with an attachment / detachment unit 101 to / from which the arm of the second robot Rb is attached / detached. The detachable unit 101 is a known auto tool changer.
　また、第１ロボットＲａには、予備曲げ装置５１の代わりに、本曲げ装置５０を装着することも可能となっている。 Further, it is possible to attach the main bending device 50 to the first robot Ra instead of the preliminary bending device 51.
　この変形例２にかかる加工装置１を使用する場合には、まず、第１ロボットＲａのアームに予備曲げ装置５１を装着する。一方、第２ロボットＲｂのアームには、下型１１を装着する。そして、予備曲げ装置５１の吸着装置５７にドアＡを吸着させて保持した後、同図に示すように、第１及び第２ロボットＲａ，Ｒｂによって予備曲げ装置５１と下型１１とを水平方向に対向させ、そのまま水平方向に移動させて接近させ、型駆動装置１３のロッド１３ａを予備曲げ装置５１のロッド挿通孔５１ａに挿通する。 When using the processing apparatus 1 according to the second modification, first, the preliminary bending apparatus 51 is attached to the arm of the first robot Ra. On the other hand, the lower mold 11 is attached to the arm of the second robot Rb. Then, after the door A is sucked and held by the suction device 57 of the preliminary bending device 51, as shown in the figure, the preliminary bending device 51 and the lower mold 11 are moved in the horizontal direction by the first and second robots Ra and Rb. The rod 13a of the die driving device 13 is inserted into the rod insertion hole 51a of the pre-bending device 51.
　その後、ロッド１３ａを回動させて予備曲げ装置５１と下型１１とを結合し、型駆動装置１３を作動させて予備曲げ装置５１と下型１１をお互いに引き付ける。このとき、予備曲げ装置５１と下型１１がお互いに接近する方向に移動していくことになるが、この移動力を第１ロボットＲａあるいは第２ロボットＲｂが検出すると、第１ロボットＲａあるいは第２ロボットＲｂはその移動力に抗しないように、予備曲げ装置５１と下型１１をお互いに接近する方向に移動させる。これにより、２台のロボットＲａ，Ｒｂを用いても予備曲げが行える。また、予備曲げが終わると、第１ロボットＲａのアームから予備曲げ装置５１を外し、該アームに本曲げ装置５０を装着する。そして、同様にして本曲げ加工を施す。２台のロボットＲａ，Ｒｂを用いる場合に、ロボットＲａ，Ｒｂの力によって予備曲げ加工や本曲げ加工を施すようにしてもよい。 Thereafter, the rod 13a is rotated to couple the preliminary bending device 51 and the lower die 11, and the die driving device 13 is operated to attract the preliminary bending device 51 and the lower die 11 to each other. At this time, the pre-bending device 51 and the lower mold 11 move toward each other. When the first robot Ra or the second robot Rb detects this moving force, the first robot Ra or the first mold 11 is moved. The two robots Rb move the preliminary bending device 51 and the lower mold 11 in directions approaching each other so as not to resist the moving force. Accordingly, the preliminary bending can be performed even using the two robots Ra and Rb. When the preliminary bending is finished, the preliminary bending device 51 is removed from the arm of the first robot Ra, and the main bending device 50 is attached to the arm. Then, the main bending process is performed in the same manner. When two robots Ra and Rb are used, preliminary bending and main bending may be performed by the force of the robots Ra and Rb.
　また、図１３に示す変形例３のように、加工装置１には、第１～３予備曲げパンチ１１１～１１３を設けるようにしてもよい。すなわち、加工装置１は、第１予備曲げパンチ１１１を有する第１予備曲げ装置（図示せず）、第２予備曲げパンチ１１２を有する第２予備曲げ装置（図示せず）、及び第３予備曲げパンチ１１３を有する第３予備曲げ装置（図示せず）を備えている。図１３における（ａ）及び（ｂ）は、第１予備曲げパンチ１１１による予備曲げ加工を説明するものである。第１予備曲げパンチ１１１は、最初に使用されるものであり、アウタパネルＰ２の被加工部分をドアＡ内方へ少し折り曲げるためのものである。図１３における（ｃ）及び（ｄ）は、第２予備曲げパンチ１１２による予備曲げ加工を説明するものである。第２予備曲げパンチ１１２は、第１予備曲げパンチ１１１による予備曲げ後に使用されるものであり、アウタパネルＰ２をドアＡ内方へ折り曲げるためのものである。図１３における（ｅ）及び（ｆ）は、第３予備曲げパンチ１１３による予備曲げ加工を説明するものである。第３予備曲げパンチ１１３は、第２予備曲げパンチ１１２による予備曲げ後に使用されるものであり、アウタパネルＰ２をドアＡ内方へさらに折り曲げるためのものである。このように、予備曲げを複数工程に分けることで、同図（ａ）に示すように、アウタパネルＰ２の被加工部分が型の移動方向に延びるような形状であっても、予備曲げ加工を施すことが可能になる。第１～３予備曲げ装置の交換はロボットで行うことが可能である。 Further, as in Modification 3 shown in FIG. 13, the processing apparatus 1 may be provided with first to third preliminary bending punches 111 to 113. That is, the processing apparatus 1 includes a first preliminary bending apparatus (not shown) having a first preliminary bending punch 111, a second preliminary bending apparatus (not shown) having a second preliminary bending punch 112, and a third preliminary bending. A third preliminary bending apparatus (not shown) having a punch 113 is provided. FIGS. 13A and 13B illustrate the pre-bending process by the first pre-bending punch 111. FIG. The first preliminary bending punch 111 is used first, and is used for slightly bending the processed portion of the outer panel P2 inwardly of the door A. (C) and (d) in FIG. 13 explains the pre-bending process by the second pre-bending punch 112. The second pre-bending punch 112 is used after the pre-bending by the first pre-bending punch 111 and is used to bend the outer panel P2 inward of the door A. FIGS. 13E and 13F illustrate the pre-bending process by the third pre-bending punch 113. FIG. The third pre-bending punch 113 is used after the pre-bending by the second pre-bending punch 112, and is for further bending the outer panel P2 inward of the door A. As described above, by dividing the preliminary bending into a plurality of steps, as shown in FIG. 5A, even if the processed portion of the outer panel P2 extends in the moving direction of the mold, the preliminary bending is performed. It becomes possible. The replacement of the first to third preliminary bending devices can be performed by a robot.
　（実施形態２）
　図１４及び図１５は、本発明の実施形態２にかかる加工装置１を示すものである。この実施形態２では、予備曲げパンチ８１を可動タイプにした点と、ドアＡの保持装置（保持部）９２を可動タイプにした点とで実施形態１のものと異なっており、以下、実施形態１と異なる部分について詳細に説明する。 (Embodiment 2)
14 and 15 show a processing apparatus 1 according to Embodiment 2 of the present invention. The second embodiment is different from the first embodiment in that the preliminary bending punch 81 is a movable type and the holding device (holding portion) 92 of the door A is a movable type. A different part from 1 is demonstrated in detail.
　実施形態２の加工装置１は、本曲げパンチ（第２型）８０及び予備曲げパンチ８１が取り付けられる基板２０を備えている。基板２０は、略水平に延びており、周縁部に脚２１，２１，…が設けられている。 The processing apparatus 1 according to the second embodiment includes a substrate 20 to which a main bending punch (second mold) 80 and a preliminary bending punch 81 are attached. The board | substrate 20 is extended substantially horizontal, and the legs 21, 21, ... are provided in the peripheral part.
　基板２０には、実施形態１と同様の型駆動装置１３が取り付けられている。基板２０の型駆動装置１３に対応する部位には、ロッド１３ａが挿通する貫通孔２０ａが形成されている。 The same type driving device 13 as that of the first embodiment is attached to the substrate 20. A through hole 20a through which the rod 13a is inserted is formed at a portion of the substrate 20 corresponding to the mold driving device 13.
　予備曲げパンチ８１は、可動機構８２に支持されている。可動機構８２は、予備曲げパンチ８１の位置を、予備曲げ加工を行う加工位置と、予備曲げ加工を行わない退避位置とに切り替えるためのものである。可動機構８２は、予備曲げパンチ８１が固定されたパンチ取付板８３と、パンチ取付板８３を水平軸周りに回動可能に支持するブラケット８４と、パンチ取付板８３を回動させるためのシリンダ装置８５とを備えている。図１４に示すように、シリンダ装置８５のロッドを伸ばすと、予備曲げパンチ８１が基板２０の内方へ移動して加工位置となる。一方、図１５に示すように、シリンダ装置８５のロッドを縮めると、予備曲げパンチ８１が基板２０の外方へ移動して退避位置となる。 The preliminary bending punch 81 is supported by the movable mechanism 82. The movable mechanism 82 is for switching the position of the preliminary bending punch 81 between a processing position where the preliminary bending process is performed and a retreat position where the preliminary bending process is not performed. The movable mechanism 82 includes a punch mounting plate 83 to which the preliminary bending punch 81 is fixed, a bracket 84 that rotatably supports the punch mounting plate 83 about a horizontal axis, and a cylinder device for rotating the punch mounting plate 83. 85. As shown in FIG. 14, when the rod of the cylinder device 85 is extended, the preliminary bending punch 81 moves inward of the substrate 20 and becomes a processing position. On the other hand, as shown in FIG. 15, when the rod of the cylinder device 85 is contracted, the preliminary bending punch 81 moves to the outside of the substrate 20 to be in the retracted position.
　また、この加工装置１には、プレッサー装置８９が下側に設けられている。プレッサー装置８９は、インナパネルＰ１に接触するパッド８９ａと、パッド８９ａを下方から支持するガスシリンダ８９ｂとを備えている。ガスシリンダ８９ｂは、上下方向に伸縮するようになっている。 Further, the processing device 1 is provided with a presser device 89 on the lower side. The presser device 89 includes a pad 89a that contacts the inner panel P1 and a gas cylinder 89b that supports the pad 89a from below. The gas cylinder 89b extends and contracts in the vertical direction.
　また、基板２０には、パネルプッシャー１０３が設けられている。パネルプッシャー１０３は、揺動部材９３がドアＡを保持しない姿勢となったときに、インナパネルＰ１を上方へ押し、これによってインナパネルＰ１及びアウタパネルＰ２を上型１２に押し付けて落下を防止するためのものである。パネルプッシャー１０３は、基板２０に固定されたエアシリンダ等からなるシリンダ装置１０３ａと、シリンダ装置１０３ａのロッドの先端に設けられた当接部材１０３ｂとを備えている。シリンダ装置１０３ａは、ロッドが上方へ突出するように配置されている。当接部材１０３ｂには、インナパネルＰ１が当接するようになっている。 Further, a panel pusher 103 is provided on the substrate 20. The panel pusher 103 pushes the inner panel P1 upward when the swinging member 93 does not hold the door A, thereby pressing the inner panel P1 and the outer panel P2 against the upper mold 12 to prevent the panel pusher 103 from falling. belongs to. The panel pusher 103 includes a cylinder device 103a composed of an air cylinder or the like fixed to the substrate 20, and a contact member 103b provided at the tip of the rod of the cylinder device 103a. The cylinder device 103a is arranged so that the rod protrudes upward. The inner panel P1 is in contact with the contact member 103b.
　加工装置１は、上型（第１型）１２が取り付けられるフレーム部材９０を備えている。フレーム部材９０には、ロボットＲのアームの固定部Ｒ１が着脱される着脱部９１が設けられている。また、フレーム部材９０の着脱部９１が設けられた側と反対側には、上記上型１２が下方へ突出するように取り付けられている。この上型１２の下面に、ドアＡのアウタパネルＰ２が接するようになっている。 The processing apparatus 1 includes a frame member 90 to which an upper mold (first mold) 12 is attached. The frame member 90 is provided with an attaching / detaching portion 91 to / from which the fixing portion R1 of the arm of the robot R is attached / detached. Further, the upper mold 12 is attached to the side of the frame member 90 opposite to the side where the attaching / detaching portion 91 is provided so as to protrude downward. The outer panel P <b> 2 of the door A is in contact with the lower surface of the upper mold 12.
　フレーム部材９０には、型駆動装置１３のロッド１３ａと対向する部分に、ロッド１３ａが挿通するロッド挿通孔９０ａが形成されている。このロッド挿通孔９０ａは、実施形態１のロッド挿通孔５０ａと同様な形状である。 In the frame member 90, a rod insertion hole 90a through which the rod 13a is inserted is formed at a portion facing the rod 13a of the mold driving device 13. The rod insertion hole 90a has the same shape as the rod insertion hole 50a of the first embodiment.
　フレーム部材９０の周縁部近傍には、ドアＡを保持するための保持装置９２が設けられている。保持装置９２は、揺動部材９３と、揺動部材９３を揺動させるシリンダ装置９４とを備えている。符号９５は、揺動部材９３の揺動軸である。シリンダ装置９４のロッドを伸ばすと、揺動部材９３がドアＡを保持する姿勢となり（図１４に示す姿勢）、一方、シリンダ装置９４のロッドを縮めると、揺動部材９３がドアＡを保持しない姿勢（図１４の下へ揺動した姿勢）となる。尚、フレーム部材９０は、図示しない台上に置かれるようになっている。 Near the periphery of the frame member 90, a holding device 92 for holding the door A is provided. The holding device 92 includes a swing member 93 and a cylinder device 94 that swings the swing member 93. Reference numeral 95 denotes a swing shaft of the swing member 93. When the rod of the cylinder device 94 is extended, the swinging member 93 holds the door A (the posture shown in FIG. 14). On the other hand, when the rod of the cylinder device 94 is contracted, the swinging member 93 does not hold the door A. It becomes a posture (posture swung downward in FIG. 14). The frame member 90 is placed on a table (not shown).
　また、この実施形態２では、ドアＡをフレーム部材９０に保持する際には、アウタパネルＰ２が上に向いた状態で保持する。 In the second embodiment, when the door A is held on the frame member 90, the outer panel P2 is held facing upward.
　次に、上記のように構成された加工装置１を用いてドアＡを加工する場合について説明する。予備曲げパンチ８１は加工位置としておく。 Next, the case where the door A is processed using the processing apparatus 1 configured as described above will be described. The preliminary bending punch 81 is set as a processing position.
　まず、ロボットＲの固定部Ｒ１に、フレーム部材９０に設けられた着脱部９１を装着し、フレーム部材９０をロボットＲに固定する。その後、フレーム部材９０を移動させて、所定場所に載置してあるドアＡを保持する。すなわち、シリンダ装置９４のロッドを伸ばして揺動部材９３を下方へ揺動させた状態でフレーム部材９０をドアＡに重ねていき、ドアＡに重なったときに、シリンダ装置９４のロッドを縮めて揺動部材９３を図１４に示すように揺動させ、ドアＡを保持する姿勢とする。 First, the attaching / detaching portion 91 provided in the frame member 90 is attached to the fixing portion R1 of the robot R, and the frame member 90 is fixed to the robot R. Thereafter, the frame member 90 is moved to hold the door A placed at a predetermined location. That is, when the rod of the cylinder device 94 is extended and the swing member 93 is swung downward, the frame member 90 is overlaid on the door A. When the frame member 90 overlaps the door A, the rod of the cylinder device 94 is shrunk. The swing member 93 is swung as shown in FIG.
　ドアＡを保持したフレーム部材９０をロボットＲにより動かして基板２０上に載置する。その際、揺動部材９３がドアＡを保持した姿勢のままでは、予備曲げパンチ８１或いは下型１１に干渉するため、揺動部材９３がそれらに干渉しないように揺動させて、ドアＡを保持しない姿勢とし、回避させる必要がある。揺動部材９３を揺動させて回避させると、インナパネルＰ１及びアウタパネルＰ２が落下することになるが、基板２０には、上記したパネルプッシャー１０３が設けられており、このパネルプッシャー１０３によりインナパネルＰ１及びアウタパネルＰ２の落下が防止され、インナパネルＰ１及びアウタパネルＰ２を上型１２に押し付けたまま、下型１１に載置することが可能になる。 The frame member 90 holding the door A is moved by the robot R and placed on the substrate 20. At this time, if the swinging member 93 holds the door A, the swinging member 93 interferes with the preliminary bending punch 81 or the lower mold 11, so the swinging member 93 is swung so as not to interfere with them, and the door A is moved. It is necessary to avoid this posture and avoid it. When the swing member 93 is swung to avoid it, the inner panel P1 and the outer panel P2 fall, but the substrate 20 is provided with the panel pusher 103 described above, and the panel pusher 103 causes the inner panel to move. P1 and the outer panel P2 are prevented from falling, and the inner panel P1 and the outer panel P2 can be placed on the lower mold 11 while being pressed against the upper mold 12.
　インナパネルＰ１及びアウタパネルＰ２を下型１１に載置すると、型駆動装置１３のロッド１３ａがフレーム部材９０のロッド挿通孔９０ａに挿通する。 When the inner panel P1 and the outer panel P2 are placed on the lower mold 11, the rod 13a of the mold driving device 13 is inserted into the rod insertion hole 90a of the frame member 90.
　その後、型駆動装置１３のロッド１３ａを回動させて、係合部材１３ｄの長手方向をフレーム部材９０のロッド挿通孔９０ａの長手方向と交差させる。これにより、係合部材１３ｄがフレーム部材９０のロッド挿通孔９０ａの周縁部に係合して、フレーム部材９０と基板２０とが結合する。 Thereafter, the rod 13a of the mold driving device 13 is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a of the frame member 90. Thereby, the engaging member 13d engages with the peripheral edge portion of the rod insertion hole 90a of the frame member 90, and the frame member 90 and the substrate 20 are coupled.
　しかる後、型駆動装置１３のロッド１３ａを縮めると、フレーム部材９０が基板２０に接近する方向に駆動される。このとき、プレッサー装置８９のパッド８９ａがインナパネルＰ１に押し付けられ、これにより、ドアＡが固定される。 Thereafter, when the rod 13 a of the mold driving device 13 is contracted, the frame member 90 is driven in a direction approaching the substrate 20. At this time, the pad 89a of the presser device 89 is pressed against the inner panel P1, whereby the door A is fixed.
　フレーム部材９０が型駆動装置１３により駆動されると、予備曲げパンチ８１が加工位置にあるので、上型１２と予備曲げパンチ８１とでアウタパネルＰ２の被加工部分に予備曲げ加工が施される。 When the frame member 90 is driven by the mold driving device 13, the preliminary bending punch 81 is in the processing position, so that the upper mold 12 and the preliminary bending punch 81 perform preliminary bending on the processed portion of the outer panel P2.
　アウタパネルＰ２の被加工部分の予備曲げ加工が完了すると、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、係合部材１３ｄの長手方向をフレーム部材９０のロッド挿通孔９０ｂの長手方向と一致させる。 When the pre-bending process of the part to be processed of the outer panel P2 is completed, the rotating device 13c of the mold driving device 13 is operated to rotate the rod 13a, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 90b of the frame member 90. It is made to correspond with the longitudinal direction.
　そして、ドアＡを保持装置９２によりフレーム部材９０に保持した状態でロボットＲにより持ち上げ、予備曲げパンチ８１を退避位置に切り替える。 Then, the door A is lifted by the robot R while being held on the frame member 90 by the holding device 92, and the preliminary bending punch 81 is switched to the retracted position.
　その後、図１５に示すように、ドアＡを保持したフレーム部材９０をロボットＲにより動かして再び基板２０に載置し、型駆動装置１３のロッド１３ａをフレーム部材９０のロッド挿通孔９０ａに挿通する。型駆動装置１３のロッド１３ａを回動させて、係合部材１３ｄの長手方向をフレーム部材９０のロッド挿通孔９０ａの長手方向と交差させる。 After that, as shown in FIG. 15, the frame member 90 holding the door A is moved by the robot R and placed again on the substrate 20, and the rod 13 a of the mold driving device 13 is inserted into the rod insertion hole 90 a of the frame member 90. . The rod 13a of the mold driving device 13 is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a of the frame member 90.
　次いで、型駆動装置１３のロッド１３ａを縮めると、上型１２と本曲げパンチ８０とでアウタパネルＰ２の被加工部分に本曲げ加工が施される。 Next, when the rod 13a of the die driving device 13 is contracted, the upper die 12 and the main bending punch 80 are used to subject the processed portion of the outer panel P2 to the main bending.
　アウタパネルＰ２の被加工部分の本曲げ加工が完了すると、型駆動装置１３の回動装置１３ｃを作動させてロッド１３ａを回動させ、係合部材１３ｄの長手方向をフレーム部材９０のロッド挿通孔９０ｂの長手方向と一致させる。 When the main bending of the part to be processed of the outer panel P2 is completed, the rod 13a is rotated by operating the rotating device 13c of the mold driving device 13, and the longitudinal direction of the engaging member 13d is set to the rod insertion hole 90b of the frame member 90. It is made to correspond with the longitudinal direction.
　そして、フレーム部材９０をロボットＲで保持し、ドアＡと共に持ち上げてドアＡを所定場所まで搬送する。 Then, the frame member 90 is held by the robot R and lifted together with the door A to convey the door A to a predetermined place.
　以上説明したように、この実施形態２にかかる加工装置１によれば、上型１２と保持装置９２とをフレーム部材９０に組み付けて一体化したので、フレーム部材９０に、成形機能だけでなく、保持機能も持たせることができる。これにより、従来例のように型とは別に保持ハンドを設ける場合に比べて加工装置１がコンパクトにまとまり、設置に要するスペースを縮小できる。 As described above, according to the processing apparatus 1 according to the second embodiment, since the upper mold 12 and the holding device 92 are assembled and integrated with the frame member 90, the frame member 90 has not only a molding function, A holding function can also be provided. Thereby, compared with the case where a holding hand is provided separately from a type | mold like the prior art example, the processing apparatus 1 is gathered compactly and the space required for installation can be reduced.
　また、加工前のドアＡを加工場所にある基板２０まで搬送した後、ドアＡの加工工程に移る場合には、ドアＡを搬送してきた上型１２を用いてドアＡの加工が直ちに行える。また、ドアＡの加工工程の後、加工後のドアＡを搬送する場合には、加工後、直ちに保持装置９２によりドアＡを保持して搬送することができる。よって、ドアＡの搬入、加工、搬出の一連の工程で待ち時間を短縮して製造工数を削減でき、生産効率を向上できる。 Further, when the door A before processing is transported to the substrate 20 at the processing place and then the door A is processed, the door A can be processed immediately using the upper mold 12 that has transported the door A. Further, when the processed door A is transported after the door A processing step, the door A can be held and transported by the holding device 92 immediately after the processing. Therefore, the waiting time can be shortened in a series of steps of carrying in, processing, and carrying out the door A, thereby reducing the number of manufacturing steps and improving the production efficiency.
　また、この実施形態２では、予備曲げパンチ８１の位置を変えるだけで、予備曲げ加工と本曲げ加工を行うことができるので、実施形態１のものに比べて加工装置１をより一層コンパクトなものにできる。 Further, in the second embodiment, since the preliminary bending process and the main bending process can be performed only by changing the position of the preliminary bending punch 81, the processing apparatus 1 is more compact than that of the first embodiment. Can be.
　尚、図示しないが、上型１２に保持装置９２を直接取り付けて一体化してもよい。 Although not shown, the holding device 92 may be directly attached to the upper mold 12 and integrated.
　また、上記実施形態２では、予備曲げ加工を行う際に型駆動装置１３の動力を利用しているが、これに限らず、フレーム部材９０の重さを、該フレーム部材９０をドアＡに置くだけで予備曲げ加工を施すことができるように、予備曲げ加工可能な重さとして、フレーム部材９０の重量で予備曲げ加工を行うようにしてもよい。 In the second embodiment, the power of the mold driving device 13 is used when performing the preliminary bending process. However, the present invention is not limited to this, and the weight of the frame member 90 is placed on the door A. The pre-bending may be performed with the weight of the frame member 90 as the weight capable of the pre-bending so that the pre-bending can be performed only by the weight.
　また、実施形態２において、型駆動装置１３をフレーム部材９０側に設けてもよい。この場合、ロッド挿通孔を基板２０に形成すればよい。 In the second embodiment, the mold driving device 13 may be provided on the frame member 90 side. In this case, a rod insertion hole may be formed in the substrate 20.
　また、実施形態２において、予備曲げ加工中や本曲げ加工中にロボットＲのアームをフレーム装置９０から離してもよいし、装着したままにしてもおいてもよい。 In the second embodiment, the arm of the robot R may be separated from the frame device 90 during the preliminary bending process or the main bending process, or may be left attached.
　図１６及び図１７に示す変形例１のように、加工装置１のフレーム部材９０には、予備曲げ時にロッド１３ａの係合部材１３ｄを係合させるための下側部材１２０を設けてもよい。この下側部材１２０は、フレーム部材９０の下面に、ロッド挿通孔９０ａの形成部位に対応するように、かつ、下方（駆動装置１３に接近する方向）へ突出するように取り付けられている。下側部材１２０の内部は中空状に形成されている。下側部材１２０の底部には、フレーム部材９０のロッド挿通孔９０ａと同形状のロッド挿通孔１２０ａが、ロッド挿通孔９０ａに対応するように形成されている。２つのロッド挿通孔９０ａ、１２０ａの長手方向は一致しており、上方から見ると、２つのロッド挿通孔９０ａ、１２０ａの周縁部は互いに重なる位置関係にある。 16 and 17, the frame member 90 of the processing apparatus 1 may be provided with a lower member 120 for engaging the engaging member 13d of the rod 13a during preliminary bending. The lower member 120 is attached to the lower surface of the frame member 90 so as to correspond to the portion where the rod insertion hole 90a is formed and to protrude downward (in the direction approaching the driving device 13). The inside of the lower member 120 is formed in a hollow shape. A rod insertion hole 120a having the same shape as the rod insertion hole 90a of the frame member 90 is formed at the bottom of the lower member 120 so as to correspond to the rod insertion hole 90a. The longitudinal directions of the two rod insertion holes 90a and 120a coincide with each other, and the peripheral portions of the two rod insertion holes 90a and 120a overlap each other when viewed from above.
　そして、この変形例では、予備曲げ時には、本曲げ時に比べてフレーム部材９０が上方に位置しているので、このときロッド１３ａの係合部材１３ｄが下側部材１２０の内部に位置することになる。この状態で、図１６に示すように、係合部材１３ｄの長手方向とロッド挿通孔１２０ａの長手方向とが交差するように、ロッド１３ａを回動させると、係合部材１３ｄがロッド挿通孔１２０ａの周縁部に接触して係合する。よって、型駆動装置１３により予備曲げが可能となる。 In this modified example, the frame member 90 is positioned higher at the time of preliminary bending than at the time of final bending, so that the engaging member 13d of the rod 13a is positioned inside the lower member 120 at this time. . In this state, as shown in FIG. 16, when the rod 13a is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 120a, the engaging member 13d is moved to the rod insertion hole 120a. It contacts and engages with the peripheral part. Therefore, preliminary bending can be performed by the mold driving device 13.
　一方、予備曲げが終わって本曲げ加工を施す際には、まず、ロッド１３ａを回動させて係合部材１３ｄの長手方向とロッド挿通孔９０ａの長手方向とを一致させる。そして、フレーム部材９０を下降させ、ロッド１３ａをフレーム部材９０のロッド挿通孔９０ａに挿通させる。この状態で、図１７に示すように、係合部材１３ｄの長手方向とロッド挿通孔９０ａの長手方向とが交差するように、ロッド１３ａを回動させると、係合部材１３ｄがロッド挿通孔９０ａの周縁部に接触して係合する。よって、型駆動装置１３により本曲げが可能となる。つまり、この変形例１では、予備曲げ時にロッド１３ａの係合部材１３ｄが係合する部分と、本曲げ時にロッド１３ａの係合部材１３ｄが係合する部分とがロッド１３ａの移動方向に離れており、予備曲げ時に係合する部分の方がロッド１３ａの基端に近い側に位置している。従って、駆動装置１３のロッド１３ａのストローク量が少なくても、予備曲げ及び本曲げの両方でフレーム部材９０を駆動することができる。尚、型を水平方向に移動させる場合にも本変形例の構造を適用することが可能である。 On the other hand, when pre-bending is finished and the main bending process is performed, first, the rod 13a is rotated so that the longitudinal direction of the engaging member 13d and the longitudinal direction of the rod insertion hole 90a are matched. Then, the frame member 90 is lowered, and the rod 13a is inserted into the rod insertion hole 90a of the frame member 90. In this state, as shown in FIG. 17, when the rod 13a is rotated so that the longitudinal direction of the engaging member 13d intersects the longitudinal direction of the rod insertion hole 90a, the engaging member 13d is moved to the rod insertion hole 90a. It contacts and engages with the peripheral part. Therefore, the bending can be performed by the mold driving device 13. That is, in the first modification, the portion where the engaging member 13d of the rod 13a engages during the preliminary bending and the portion where the engaging member 13d of the rod 13a engages during the main bending are separated in the moving direction of the rod 13a. The portion that engages during preliminary bending is located closer to the base end of the rod 13a. Therefore, even if the stroke amount of the rod 13a of the driving device 13 is small, the frame member 90 can be driven by both preliminary bending and main bending. Note that the structure of this modification can also be applied when the mold is moved in the horizontal direction.
　また、上記実施形態２では、本曲げパンチ８０及び予備曲げパンチ８１を床面から動かないようにしているが、これに限らず、例えば、本曲げパンチ８０及び予備曲げパンチ８１を別のロボット（図示せず）に持たせるようにしてもよい。これにより、本曲げパンチ８０及び予備曲げパンチ８１を任意の場所に移動することができ、予備曲げ加工及び本曲げ加工を施すのに要する時間を短縮することができる。 In the second embodiment, the main bending punch 80 and the pre-bending punch 81 are prevented from moving from the floor surface. However, the present invention is not limited to this. (Not shown) may be provided. Thereby, the main bending punch 80 and the pre-bending punch 81 can be moved to arbitrary places, and the time required for performing the pre-bending process and the main bending process can be shortened.
　また、上記実施形態１、２では、搬送装置としてロボットＲを用いた場合について説明したが、搬送装置はロボットＲに限られるものではなく、例えば、クレーン、ホイスト等のように、物を搬送できる装置であればよく、例えばチェーンブロックと、クレーンやホイストとを組み合わせて搬送装置としてもよい。 Moreover, although the said Embodiment 1, 2 demonstrated the case where the robot R was used as a conveying apparatus, a conveying apparatus is not restricted to the robot R, For example, things, such as a crane and a hoist, can be conveyed. Any device may be used. For example, a chain block may be combined with a crane or a hoist to form a transport device.
　また、上記各実施形態では、型駆動装置１３を油圧シリンダ装置で構成しているが、これに限らず、例えば、空気圧シリンダ装置で構成してもよいし、電磁石を用いて構成してもよい。実施形態１で電磁石を用いる場合には、本曲げ装置５０及び予備曲げ装置５１と、下型１１との一方に電磁石を固定し、他方を磁性体で構成する。そして、電磁石に通電することで、磁力による吸引力を発生させ、ヘミング加工を施すことができる。実施形態２で電磁石を用いる場合には、フレーム部材９０と基板２０との一方に電磁石を固定し、他方を磁性体で構成すればよい。 Moreover, in each said embodiment, although the type | mold drive device 13 is comprised with the hydraulic cylinder apparatus, it may comprise not only this but a pneumatic cylinder apparatus, for example, and it may comprise using an electromagnet. . When the electromagnet is used in the first embodiment, the electromagnet is fixed to one of the main bending device 50, the preliminary bending device 51, and the lower mold 11, and the other is made of a magnetic material. And by energizing an electromagnet, the attraction force by magnetic force can be generated and hemming can be performed. In the case where an electromagnet is used in the second embodiment, the electromagnet may be fixed to one of the frame member 90 and the substrate 20 and the other may be made of a magnetic material.
　また、実施形態１において、真空圧を利用して本曲げ装置５０及び予備曲げ装置５１を駆動し、下型１１に吸着させるようにしてもよい。また、実施形態２において、真空圧を利用してフレーム部材９０を基板２０に吸着させるようにしてもよい。 In the first embodiment, the main bending device 50 and the pre-bending device 51 may be driven using vacuum pressure to be adsorbed to the lower mold 11. In the second embodiment, the frame member 90 may be attracted to the substrate 20 by using a vacuum pressure.
　また、型駆動装置１３のロッド１３ａを回動させることによって結合状態と非結合状態とを切り替えるようにしているが、これに限らず、例えば、型駆動装置１３の全体を移動させて結合状態と非結合状態とを切り替えるようにしてもよい。 In addition, the coupled state and the uncoupled state are switched by rotating the rod 13a of the mold driving device 13. However, the present invention is not limited to this. For example, the entire mold driving device 13 is moved to be in the coupled state. You may make it switch a non-bonding state.
　また、予備加工と本加工とに分かれていない加工を施す場合には、実施形態１では予備曲げ装置５１を省略し、実施形態２では予備曲げパンチ８１を省略すればよい。 Further, when performing processing that is not divided into preliminary processing and main processing, the preliminary bending device 51 may be omitted in the first embodiment, and the preliminary bending punch 81 may be omitted in the second embodiment.
　また、本発明は、ヘミング加工以外にも、例えば、トリム加工、ピアス加工、バーリング加工等の各種プレス加工を施す場合に適用することができ、また、プレス加工以外にも、拡管加工、ベローズ加工等、被加工物に加工力を作用させて加工する場合に広く適用できる。 In addition to hemming, the present invention can be applied to various press processing such as trim processing, piercing processing, and burring processing. In addition to press processing, tube expansion processing and bellows processing are also applicable. For example, the present invention can be widely applied to processing by applying a processing force to a workpiece.
　以上説明したように、本発明にかかる加工装置は、例えば、自動車用ドア等を製造する際に用いることができる。 As described above, the processing apparatus according to the present invention can be used, for example, when manufacturing an automobile door or the like.
１　　　　加工装置
５０　　　本曲げ装置
５１　　　予備曲げ装置
５５　　　着脱部
５６　　　吸着装置（保持部）
５７　　　プレッサー装置
５８　　　本曲げパンチ（第１型、本加工型）
６１　　　着脱部
７０　　　予備曲げパンチ（第１型、予備加工型）
Ａ　　　　ドア（被加工物）
Ｒ　　　　ロボット（搬送装置）
Ｒａ　　　第１ロボット（本加工型搬送装置）
Ｒｂ　　　第２ロボット（予備加工型搬送装置） 1 Processing Device 50 Main Bending Device 51 Preliminary Bending Device 55 Detachable Unit 56 Adsorption Device (Holding Unit)
57 Presser device 58 Bending punch (first type, main processing type)
61 Detachable section 70 Preliminary bending punch (first mold, preliminary machining mold)
A door (workpiece)
R Robot (Transfer device)
Ra 1st robot (main processing type transfer device)
Rb 2nd robot (preliminary processing type transfer device)

Claims (5)

  1. 　第１型と、
    　上記第１型に対向するように配置される第２型とを備え、
    　上記第１型と上記第２型の間に被加工物を配置し、該第１型と第２型を互いに接近させることによって被加工物を加工するように構成された加工装置において、
    　被加工物を搬送するための搬送装置を備えており、
    　上記搬送装置には、上記第１型が取り付けられ、
    　上記第１型には、被加工物を保持するための保持部が一体化されていることを特徴とする加工装置。     The first type;
    A second mold arranged to face the first mold,
    In a processing apparatus configured to process a workpiece by placing the workpiece between the first mold and the second mold, and bringing the first mold and the second mold close to each other.
    A transport device for transporting the workpiece;
    The first mold is attached to the transport device,
    A processing apparatus, wherein a holding portion for holding a workpiece is integrated with the first mold.
  2. 　請求項１に記載の加工装置において、
    　被加工物に予備加工を施すための予備加工型と、予備加工後の被加工物に本加工を施して最終形状とするための本加工型とが第１型であり、
    　上記予備加工型及び上記本加工型には、保持部がそれぞれ設けられるとともに、搬送装置に着脱される着脱部がそれぞれ設けられていることを特徴とする加工装置。     The processing apparatus according to claim 1,
    A pre-processing mold for pre-processing the workpiece and a main processing mold for performing the main processing on the workpiece after the preliminary processing to obtain a final shape are the first mold,
    The preliminary processing die and the main processing die are each provided with a holding portion and an attachment / detachment portion that is attached to and detached from the transport device.
  3. 　請求項２に記載の加工装置において、
    　予備加工型を搬送する予備加工型搬送装置と、
    　本加工型を搬送する本加工型搬送装置とを備え、
    　上記各搬送装置はロボットで構成されていることを特徴とする加工装置。     The processing apparatus according to claim 2, wherein
    A pre-processing type transfer device for transferring the pre-processing type;
    A main processing mold conveying device for conveying the main processing mold;
    Each of the above conveying devices is constituted by a robot.
  4. 　請求項１から３のいずれか１つに記載の加工装置において、
    　第１型には、被加工物を第２型へ押さえるためのプレッサー装置が一体化されていることを特徴とする加工装置。     In the processing apparatus according to any one of claims 1 to 3,
    A processing apparatus characterized in that the first mold is integrated with a presser device for holding the workpiece to the second mold.
  5. 　請求項１から４のいずれか１つに記載の加工装置において、
    　搬送装置が第１型を第２型に接近する方向に駆動することを特徴とする加工装置。     In the processing apparatus according to any one of claims 1 to 4,
    A processing apparatus, wherein the conveying device drives the first mold in a direction approaching the second mold.
PCT/JP2010/003027 2010-04-27 2010-04-27 Processing apparatus WO2011135620A1 (en)

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CN109414748A (en) * 2017-06-16 2019-03-01 株式会社广岛技术 Hemming processing apparatus and hemming processing method
FR3077746A1 (en) * 2018-02-13 2019-08-16 Psa Automobiles Sa DEVICE FOR ADJUSTING A MATRIX IN RELATION TO THE PRESSER OF A CRIMPING PRESS

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