JP2006088217A - Roll hem processing equipment - Google Patents

Abstract

[PROBLEMS] To prevent a decrease in machining accuracy and an excessive load on a robot even if a deviation between a robot arm locus and a machining die occurs due to a positioning error of the robot or a secular change.
Guide rails 14 and 15 are provided at the outer peripheral end of a peripheral flange 12 of a base, and a rolling part 21a of a hem roller 21 is fitted to the guide rail 14 and a rolling part 22a of a guide roller 22 is fitted to the guide rail 15. The bent part 51a of the outer panel 51 which is a to-be-processed part is clamped and clamped. Thus, when the hem processing is performed by moving the processing head by the robot, the hem roller 21 and the guide roller 22 are guided along the processing progress direction by the guide rails 14 and 15, and the robot is moved by the positioning error of the robot or the secular change. Even if a deviation occurs between the trajectory of the arm and the machining die, it is possible to prevent a reduction in machining accuracy and an excessive load on the robot.
[Selection] Figure 2

Description

  The present invention relates to a roll hem processing apparatus that bends an edge of a sheet metal such as a door panel of a vehicle with a roller.

  In recent years, in the hem processing technology that folds the flanges of the edges of workpieces such as door panels, hoods, trunk lids and the like of automobiles and the like, a roller for a processing head mounted on a robot arm instead of a processing device using a press machine The heme processing device by is used.

  As a hem processing apparatus using this roller, for example, as disclosed in Patent Document 1, a hem roller is pressed by a robot against a flange of a workpiece edge placed on a jig, and the flange is hemmed on the jig. However, since the pressure is applied from one direction, if the processing accuracy is reduced due to the pressure reaction force, there is a problem that a large rigid robot is required and the cost is increased. It was.

Therefore, Patent Document 2 proposes an apparatus that performs hem processing by directly sandwiching a workpiece portion with a pair of rollers. In this case, the accuracy of the shape depends on the accuracy of the robot. End up. For this reason, Patent Document 3 proposes an apparatus in which a hem roller is disposed so as to be movable toward and away from the driven roller, and the processing die and the workpiece are sandwiched between the hem roller and the driven roller to perform hem processing. .
JP-A-5-305357 Japanese Patent Laid-Open No. 7-60370 JP 2003-103325 A

  However, even if an apparatus as disclosed in Patent Document 3 is used, it is inevitable that a deviation occurs between the locus of the robot arm and the part to be processed by the machining die due to a positioning error of the robot or aging. In particular, when hemming the outer peripheral edge of a large part such as a front hood of an automobile, an excessive load is applied to the joint portion of the robot, and the processing accuracy may be reduced.

  The present invention has been made in view of the above circumstances, and prevents a reduction in machining accuracy even if a deviation occurs between the locus of the robot arm and the machining die due to a positioning error or aging of the robot. An object of the present invention is to provide a roll hem processing apparatus capable of preventing an excessive load.

  In order to achieve the above object, a roll hem processing apparatus according to the present invention includes a hem roller that rolls along a work part of a workpiece and a peripheral flange of a base on which the workpiece is placed together with the hem roller. A roller hem processing apparatus having a processing head that rotatably supports a rolled guide roller, wherein at least one of the hem roller and the guide roller is processed at an end of a peripheral flange of the base. A guide rail that guides along the direction is provided.

  The roll hem processing apparatus of the present invention prevents a decrease in processing accuracy even if a deviation occurs between the locus of the robot arm and the processing mold due to a positioning error of the robot or a secular change, and an excessive load on the robot. Can be prevented.

  Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 relate to a first embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a roll hem processing apparatus, FIG. 2 is an explanatory diagram of a hem roller and a guide roller, and FIG. 3 is a hem roller, a guide roller, and a guide rail. FIG. 4 is an explanatory view showing this hem processing.

  As shown in FIG. 1, a roll hem processing apparatus 1 includes a jig 10 for placing and positioning a workpiece W, a hem roller for performing hem processing (in the figure, a pre-hem roller for pre-hem processing that is temporary bending processing is shown). 21, a processing head 20 having a guide roller 22 that is disposed opposite to the hem roller 21 and presses the workpiece together with the hem roller 21 and is driven by the hem roller 21, and a pre-teached robot 30 that conveys and positions the processing head 20. Is done. The jig 10 and the robot 30 are installed on the base 2 serving as a common base.

  The jig 10 includes a base 11 that can be rotated around an axis J <b> 0 in the vertical direction with respect to the base 2, and a peripheral flange 12 that protrudes outward from the peripheral edge is formed at the upper end of the base 11. The upper surface side of the peripheral flange 12 on which the workpiece W is placed is formed as a hem forming surface 13, and guide rails 14 and 15 having a substantially trapezoidal cross-sectional shape are provided on the upper and lower surfaces of the outer peripheral end of the peripheral flange 12, respectively. Yes.

  The guide rails 14 and 15 serve as guides when the hem roller 21 and the guide roller 22 of the processing head 20 roll in the processing progress direction, respectively, and the hem processing progress direction in the peripheral flange 12 of the base 11. It is extended along. In this embodiment, the guide rails 14 and 15 are provided for the hem roller 21 and the guide roller 22, respectively, but may be provided on at least one of the hem roller 21 side and the guide roller 22 side.

  The machining head 20 is configured by rotatably supporting a hem roller 21 and a guide roller 22 on a head 23 attached to a bracket 40 of a robot 30. The head 23 is attached to the bracket 40 of the robot 30 so as to be elastically supported to some extent. The hem roller 21 is rotatably supported by a slider 24 that can slide in the longitudinal direction of the head 23 by an actuator, and the guide roller 22 is rotatably supported by the lower end of the head 23.

  As an actuator for sliding the hem roller 21, a servo motor or a pressure cylinder (pneumatic or hydraulic cylinder) can be used. In this embodiment, a servo motor 25 is used. By driving the servo motor 25, the distance between the hem roller 21 and the guide roller 22 can be varied, and the pressing force that sandwiches the workpiece W between the hem roller 21 and the guide roller 22 can be controlled.

  That is, a ball screw 26 that is rotatably supported by the head 23 is connected to the servo motor 25, and the slider 24 is screwed to the ball screw 26. When the ball screw 26 is rotationally driven by the servo motor 25, the slider 24 slides along the slide guide 27, and the distance between the hem roller 21 and the guide roller 22 is varied as the slider 24 slides. The The servo motor 25 is provided with an encoder 28 for detecting the rotational position, and the encoder 28 can know the interval between the hem roller 21 and the guide roller 22.

  As shown in FIGS. 2 and 3, the hem roller 21 and the guide roller 22 are fitted to guide rails 14 and 15 provided on the outer peripheral end of the peripheral flange 12 of the base 11, respectively. It has moving parts 21a and 22a. The hem roller 21 and the guide roller 22 are firmly supported and integrated with the head 23 so that the rotation axes of the hem roller 21 and the guide roller 22 are arranged in parallel and the relative positional relationship does not change due to a factor other than a change in the plate thickness of the workpiece W. The robot 30 is elastically supported to some extent with respect to the processing progress direction regulated by the guide rails 14 and 15.

  The hem roller 21 shown in FIGS. 1 and 2 is a pre-hem roller for pre-hem processing as described above, and a tapered pre-hem processing portion 21b is provided coaxially on the tip side of the rolling portion 21a fitted to the guide rail 14. It has been. Similarly, the guide roller 22 is provided with a cylindrical portion 22b coaxially on the distal end side of the rolling portion 22a fitted to the guide rail 15.

  After the pre-hem processing by the hem roller 21, the main hem processing by the hem roller 29 for main hem processing which is the main bending processing shown in FIG. 4 is performed. Similarly, the hem roller 29 for this hem processing includes a substantially wheel-shaped rolling portion 29a having a concave portion that fits into the guide rail 14, and a cylindrical hem processing provided on the tip side of the rolling portion 29a. Part 29b.

  On the other hand, in the example shown in FIG. 1, the robot 30 that moves and positions the machining head 20 is a multi-axis positioning mechanism robot having first to fifth arms 32 to 36 and first to fifth axes J1 to J5. It is. The first arm 32 and the fourth arm 35 are swingably connected to a machine base 31 installed on the base 2, and the base end of the second arm 33 is joined to the fourth arm 35. A third arm 34 is joined to the tips of the first and second arms 32 and 33, and a parallelogram indirect joint is formed by the first to fourth arms 32 to 35. The fifth arm 36 is joined to the tip of the third arm 34.

  Each of the axes J1 to J5 is controlled so as to convey and position the machining head 20 to a previously taught position. The first axis J1 rotates the machine base 31 on the base 2 in a horizontal plane, and the second axis J2 changes the rotational position of the first arm 32 with respect to the machine base 31 to thereby form a parallelogram joint. The third arm 34 is moved in parallel. Further, the third axis J3 changes the swing position of the third arm 34 by changing the rotation position of the fourth arm 35, and the fourth axis J4 changes the fifth arm 36 to the third arm. 34. The tip is positioned so as to be swingable about an axis parallel to the second axis J2. The fifth axis J5 positions the bracket 40 so as to be pivotable around the axis orthogonal to the fourth axis J4 at the tip of the fifth arm 36.

  The robot 30 is not limited to the illustrated example, and may be a multi-axis positioning mechanism including a plurality of axes and a plurality of arms.

  Next, a procedure for hem machining the workpiece W using the above roll hem machining apparatus 1 will be described. In the following description, the hem roller 21 for pre-hem processing and the hem roller 29 for main hem processing are distinguished from each other and described as the pre-hem roller 21 and the main hem roller 29, respectively. As the workpiece W, for example, an outer panel 51 and an inner panel 52 The vehicle front hood 50 will be described as an example.

  First, the front hood 50 is placed on the base 11 of the jig 10, and the processed portion of the front hood 50 is positioned along the hem forming surface 13 on the peripheral flange 12 of the base 11. In the hem-processed portion of the front hood 50, the peripheral edge of the outer panel 51 is bent upward at a substantially right angle in advance, and the peripheral edge of the inner panel 52 is aligned inside the bent portion 51a that is bent at a substantially right angle. It is set on the base 11 in a state in which it is allowed to go.

  Next, the ball screw 26 is rotated by the servo motor 25 to slide the slider 24 and the pre-hem roller 21, and the distance from the guide roller 22 is increased. Then, the machining head 20 is brought close to the peripheral flange 12 of the base 11 by the robot 30, and the rolling part 21a of the pre-hem roller 21 and the rolling part 22a of the guide roller 22 are respectively connected to the guide rails 14 and 15 of the peripheral flange 12. The machining head 20 is positioned so that the corresponding position is obtained.

  Next, the third axis J3 of the robot 30 is operated to swing the third arm 34 upward, and the rolling portion 22a of the guide roller 22 is fitted to the guide rail 15. Further, the ball screw 26 is rotationally driven by the servo motor 25, the rolling portion 21a of the prehem roller 21 is fitted to the guide rail 14, and the prehem processing portion 21b of the prehem roller 21 is in contact with the bent portion 51a of the outer panel 51. The slider 24 and the prehem roller 21 are moved toward the guide roller 22 so that the bent portion 51a is deformed along the taper of the prehem processing portion 21b. And the clamping force which clamps the to-be-processed part of the peripheral flange 12 and the front hood 50 with the prehem roller 21 and the guide roller 22 is adjusted and hold | maintained (refer FIG. 2).

  Next, the robot 30 rolls the pre-hem roller 21 and the guide roller 22 of the processing head 20 along the peripheral flange 12 of the base 11 to sequentially deform the bent portions 51a of the outer panel 51 and advance the pre-hem processing. During the progress of the prehem processing, since the processing head 20 is supported to some extent elastically with respect to the robot 30, each of the prehem roller 21 and the guide roller 22 is not affected by the positioning error of the robot 30. The rolling portions 21 a and 22 a are forcibly guided by the guide rails 14 and 15 of the peripheral flange 12, and an excessive load is not generated on the arm of the robot 30.

  After that, when the prehem processing is completed over the entire circumference of the processing portion of the front hood 50 or over a predetermined distance, the robot 30 slides the prehem roller 21 of the processing head 20 in a direction away from the guide roller 22. The pre-hem roller 21 and the guide roller 22 are released from the peripheral flange 12 and the front hood 50 of the base 11 and the processing head 20 is retracted. Then, the pre-hem roller 21 mounted on the processing head 20 is replaced with a main hem roller 29, or the main hem processing is performed using a processing head having the main hem roller 29 already mounted on another robot arm.

  In this main hem processing, the processing head is moved to the processing portion in the same procedure as the pre-hem processing, the main hem roller 29 is brought into contact with the bent portion 51a of the outer panel 51 that has already been pre-hemized, and the pressurization control of the servo motor 25 is performed. As shown in FIG. 4, the bent portion is pressed against the hem forming surface 13 of the base 11 by pressing force, and the hem roller 29 and the guide roller 22 are rolled along the peripheral flange 12 of the base 11. Perform this hem processing. In this hem processing, as in the pre-hem processing, the rolling portions 29a and 22a of the hem roller 29 and the guide roller 22 are forcibly guided by the guide rails 14 and 15 of the peripheral flange 12, so that the positioning error of the robot And the arm is not overloaded.

  As described above, in the roll hem processing apparatus 1 of the present embodiment, the processing head 20 is attached to the robot 30 with a certain degree of freedom, and is provided on the peripheral flange 12 of the base 11 of the jig 10. The hem roller 21 and the guide roller 22 are guided and rolled by the guide rails 14 and 15 in the processing direction, and hem processing is performed.

  As a result, there is no problem that the workpiece shape accuracy after processing changes depending on the positioning accuracy of the robot 30, and even if the arm trajectory is deviated due to the positioning error or secular change of the robot 30, It is possible to prevent a reduction in machining accuracy and to prevent an excessive load on the robot 30. In addition, the entire apparatus can be reduced in size without increasing the accuracy and rigidity of the robot 30 more than necessary, and the movement trajectory of the robot 30 for moving and positioning the machining head 20 can be simplified, and teaching can be performed easily. It becomes.

  Next, a second embodiment of the present invention will be described. FIG. 5 is an explanatory diagram showing a pre-hem roller, a main hem roller, and a guide roller according to a second embodiment of the present invention.

  In the second embodiment, pre-hem processing and main hem processing are continuously performed by the same robot arm. That is, as shown in FIG. 5, in the second embodiment, the machining head 20 </ b> A having the head 23 </ b> A that pivotally supports the pre-hem roller 21 and the main hem roller 29 is attached to the arm of the robot 30 to perform hem machining.

  In FIG. 5, a pre-hem roller 21, a main hem roller 29 that follows the pre-hem roller 21 at a predetermined interval behind the pre-processing direction, and two guide rollers 22 and 22 are rotatably supported by a head 23A. The distance between the pre-hem roller 21 and the guide roller 22 as the first guide roller disposed opposite to the pre-hem roller 21, the main hem roller 29, and the second disposed opposite to the main hem roller 29. The distance from the guide roller 22 as the guide roller is varied by the same mechanism as in the first embodiment, and the clamping force of the workpiece W is controlled.

  In the hem processing, the pre-hem roller 21 and the main hem roller 29 roll on the guide rail 14 on the hem forming surface 13 side of the base 11, and the guide roller 22 disposed to face the pre-hem roller 21 and the main hem roller 29 are disposed to face each other. 4 rolls on the guide rail 15 so that the hem processing shown in FIG. 4 is continued by the movement of the same robot arm following the pre-hem processing shown in FIG. 2 described in the first embodiment. Can be done automatically.

  The guide roller 22 does not necessarily have to be provided corresponding to the pre-hem roller 21 and the main hem roller 29. For example, one guide roller 22 is opposed to the intermediate position between the pre-hem roller 21 and the main hem roller 29. It may be arranged. Similarly, the guide rails 14 and 15 may be provided on at least one of the pre-hem roller 21 and main hem roller 29 side and the guide roller 22 side.

  In the second embodiment, as in the first embodiment, even if the locus of the arm is displaced due to a positioning error or a secular change of the robot 30, the machining accuracy is prevented from being lowered and an excessive load on the robot 30 is also prevented. can do. Furthermore, in the second embodiment, the pre-hem processing and the main hem processing can be continuously performed by the same robot arm, and the work efficiency and the work efficiency can be improved by reducing the process and time required for the work. Can contribute.

Schematic configuration diagram of a roll hem processing apparatus according to the first embodiment of the present invention. Same as above, explanatory drawing of hem roller and guide roller Explanatory drawing which shows a hem roller, a guide roller, and a guide rail same as the above Same as above, explanatory diagram showing this hem processing Explanatory drawing which concerns on 2nd Embodiment of this invention and shows a prehem roller, this hem roller, and a guide roller.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Roll hem processing apparatus 11 Base 12 Peripheral flange 14, 15 Guide rail 20, 20A Processing head 21 Pre hem roller 22 Guide roller 29 This hem roller W Workpiece
Agent Patent Attorney Susumu Ito

Claims (4)

Machining that rotatably supports a hem roller that rolls along the workpiece part and a guide roller that rolls while holding the peripheral flange of the base on which the workpiece is placed together with the hem roller. A roller hem processing apparatus having a head,
A roll hem processing apparatus, characterized in that a guide rail for guiding at least one of the hem roller and the guide roller along a progress direction of processing is provided at an end of a peripheral flange of the base.   2. The roll hem processing apparatus according to claim 1, wherein a rolling part is provided on at least one of the hem roller and the guide roller so as to fit and roll on the guide rail.   The hem roller that is pivotally supported by the processing head is a hem roller that includes a pre-hem roller that pre-hems a workpiece portion of the workpiece and a main hem roller that pre-hems a portion pre-hem processed by the pre-hem roller. The roll hem processing apparatus according to claim 1 or 2.   4. The roll hem processing apparatus according to claim 3, wherein the processing head includes a first guide roller facing the pre-hem roller and a second guide roller facing the main hem roller.

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