JP7205902B2 - Hemming machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a roller hemming apparatus used for hemming an outer panel and an inner panel such as an automobile door panel, and particularly a link for hemming a portion having a shape that is difficult to hemming with a roller. The present invention relates to a hemming device equipped with a type hem punch.

2. Description of the Related Art A hemming device for hemming a work consisting of an outer panel and an inner panel is used at a manufacturing site of an automobile door. As such an apparatus, for example, Patent Document 1 discloses a hemming apparatus equipped with a lightweight anvil that performs hemming while pressing a roller against a workpiece by a hemming robot, and replaces the anvil when the model is changed by a transfer robot. is disclosed.

As shown in FIG. 10 , such a hemming apparatus 1 includes an anvil 2 on which a work W is placed, a presser material handler 3 for holding the work W, and a presser material handler 3 that grips and conveys the work W to the anvil 2 . A transport robot 5 for loading and unloading W and a hemming robot 6 are further provided. The anvil 2 and the presser material handler 3 are provided with an ATC device on the transfer robot side and an ATC on the device side for attachment and detachment.

According to the hemming apparatus 1, first, the transfer robot 5 grips the presser material handling 3, and the presser material handling 3 grips the workpiece W including the outer panel W1 and the inner panel W2. After that, the transport robot 5 places the presser material handle 3 holding the work W on the anvil 2 and carries the work W into the anvil 2. The transport robot 5 is disconnected from the presser material handle 3 and retreats. Then, when the work W is fixed to the anvil 2, the conveying robot 5, which has been evacuated, is switched over to the roller head, and along with other hemming robots 6, performs predetermined processing on the outer circumference of the work. After hemming the outer periphery of the work, the transfer robot 5 is disconnected from the roller head, connected to the presser material handling 3 and retracted, and another hemming robot 6 performs hemming of the inner periphery of the opening of the work. When the hemming process is completed, the transfer robot 5 places the presser material handler 3 on the upper part of the work W, grips the work W, and carries it out.

When the anvil 2 is to be replaced, another transport robot 5 that has been operating as a hemming robot disconnects from the roller head and grips the anvil 2 via the ATC device. The transport robot 5 gripping the anvil 2 unloads the anvil 2 to the anvil stand 9a. The other transport robot 5 holding the presser material handle 3 places the presser material handle 3 on the anvil 2 that has been carried out, goes to pick up the anvil 2 to be used in the next process, and moves the ATC device 51. The anvil replacement work is performed by holding it through and placing it on the anvil support base 4 . Since a lightweight anvil is used, there is no need to install a robot with a large carrying capacity for transporting the anvil 2, the transport robot can be made smaller, and the anvil can be replaced when the model is changed using a robot equivalent to a hemming robot. can be done. Furthermore, the anvil replacement time can be shortened to improve productivity, and it can be applied to a production line that produces a wide variety of works while switching them.

WO2018/229963

However, part of the material to be hemmed includes a portion such as a corner portion that is difficult to be subjected to roller hemming, and a portion that has a functional shape at the end and is deformed by roller hemming. Here, the functional shape refers to a shape that has a unique function and requires a certain shape accuracy in order to exhibit the function. It is necessary to perform hemming so as not to crush these shapes, but even for areas where roller hemming is difficult, using the same rollers used for hemming flat flanges without shapes This portion has a wavy shape, which causes a problem that the appearance quality is deteriorated and a problem that the shape accuracy of the functional portion is deteriorated. In addition, when using a hemming roller to ensure appearance quality and shape accuracy, it is necessary to perform processing so as not to affect the shape. However, there is a problem that the processing time is increased.

Hemming can be performed by providing a dedicated hem punch to the anvil 2 for a portion having a shape that is difficult to perform roller hemming. Usually, such a dedicated hem punch is provided with a heavy driving source such as a pressurizing cylinder to operate the hem punch to perform hemming. However, if a hem punch equipped with a heavy drive source is provided on a lightweight anvil, a robot with a large carrying capacity necessary for transporting the anvil must be provided, which poses the problem of increased equipment costs and installation space. rice field. Moreover, if the weight of the anvil increases, the effect of shortening the anvil replacement time and improving productivity, which has been achieved by using a lightweight anvil, will decrease.

The present invention has been made in consideration of such problems, and the production equipment is made lighter, and the processing time is shortened to shorten the processing time while ensuring the quality even for parts where roller hemming is difficult. It is an object of the present invention to provide a hemming device capable of coping with production takt.

In the invention according to claim 1, a hemming apparatus is provided with a lightweight anvil so that an anvil exchange can be performed by a transfer robot, and a hemming robot equipped with a hemming roller is configured to perform hemming, wherein the hemming is performed by the hemming roller. One or more link-type hem punches are attached to the anvil at a portion of the material to be hemmed that is difficult to hemming, and the hem punch is operated by a robot to hemm the material to be hemmed. do.

In the hemming apparatus according to the present invention, the lightweight anvil is provided so that the anvil can be replaced by the transfer robot when the model is changed, and the lightweight anvil is provided with a hem punch operated by the robot.
According to this configuration, it is not necessary to provide a hem punch having a dedicated drive source, unlike the conventional case, even at a portion of the material to be hemmed that is difficult to hemming with a hemming roller. Since the link-type hem punch provided on the anvil can be operated by a robot, the anvil can be made lighter and smaller. Cost and installation space can be saved. In addition, it is not necessary to repeat hemming while adjusting the pressing force of the roller even in areas where it is difficult to hemming, so that the processing time can be shortened and the appearance quality can be ensured.

The invention according to claim 2 is characterized in that the portion difficult to be subjected to the roller hemming process is a portion in which a functional shape is provided at the end portion of the material to be hemmed. A functional shape is a shape that has a specific function, and means a shape that requires a certain degree of shape accuracy in order to demonstrate its function.

According to this configuration, even for a functional shape that is difficult to perform roller hemming, hemming that satisfies shape accuracy can be performed in a short processing time by the link-type hem punch.

According to the present invention, when hemming a portion having a shape that is difficult to hemming with a roller, the hem punch can be operated by a robot without providing a heavy drive source, so the anvil can be made lightweight. can be In addition, since a robot with a small carrying capacity can replace the anvil when the model is changed, the cost of the equipment can be reduced and the installation space can be reduced. Furthermore, it is possible to shorten the hemming time while maintaining the quality.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which shows the whole hemming process apparatus structure which concerns on this invention. (a) is a schematic diagram of a door panel according to the present invention, and (b) is an enlarged view of (a)A. 1 is a perspective view showing the configuration of an anvil according to the present invention; FIG. It is a perspective view which shows the structure of the guide apparatus which concerns on this invention. 1 is a perspective view showing a link-type hem punch according to the present invention; FIG. FIG. 4 is a perspective view showing how the link-type hem punch according to the present invention is operated by a robot; 1 is a perspective view showing a configuration of a presser material handling system according to the present invention; FIG. 1 is a perspective view showing a configuration of a head of a hemming robot according to the present invention; FIG. FIG. 4 is a perspective view showing the configuration of the head of the robot that operates the link-type hem punch according to the present invention; 1 is a perspective view showing a conventional hemming apparatus; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. In addition, the following description of the embodiments is merely an essential example, and is not intended to limit the present invention, its applications, or its uses.

(First embodiment)
A first embodiment will be described.
As shown in FIG. 2(a), an automotive door panel 10 has a body portion 11 for accommodating a door window and a sash portion 12 in which an opening for the door window is formed. As shown in FIG. 2(b), the automotive door panel 10 is provided with a functional shape (projection shape) 15. As shown in FIG. Here, the functional shape refers to a shape that has a specific function and requires a certain degree of shape accuracy in order to exhibit the function. In this embodiment, the belt portion 14 of the automobile door panel 10 is provided with a protruding shape 15 for engaging the belt molding in a later process.

A hemmed material W to be hemmed by the hemming apparatus 1 is composed of an outer panel W1 positioned on the vehicle exterior side and an inner panel W2 positioned on the vehicle interior side. As shown in FIG. 1, the hemming apparatus 1 includes an anvil 2 on which an outer panel W1 is placed, a presser material handler 3 that holds a material to be hemmed W, a transport robot 5 that grips and transports the presser material handle 3, and a hemming machine. A hemming robot 6 and a link-type hem punch 27 provided on the anvil 2 perform hemming on the outer peripheral portion of the outer panel W1 placed on the anvil 2 by the rollers 63 of the hemming robot 61. The portion of the outer panel W1 where the protruding shape 15 is provided is hemmed by a link-type hem punch 27 to integrate the outer panel W1 and the inner panel W2.

The processing process by the hemming device 1 includes a pre-bending process in which the edge of the outer panel W1, which has been flanged in advance, is hemmed at a predetermined angle while the inner panel W2 is superimposed on the outer panel W1 in the plate thickness direction. and a final bending step of pressing the pre-bent end portion of the outer panel W1 against the inner panel W2 and further bending the end portion of the outer panel W1 until it overlaps the peripheral edge portion of the inner panel W2.

(anvil)
The anvil 2 is placed on an anvil support base 4 that supports the anvil 2, as shown in FIG. As shown in FIG. 3, the anvil 2 includes an anvil main body 20 that supports the material W to be hemmed, a support 21 that supports the material W to be hemmed when the material W to be hemmed is carried in, and an outer panel W1. an ATC device 23 for attaching and detaching from the ATC device 51 of the transfer robot 5; , a guide device 25 for constraining and positioning the outer edge of the flanged hemmed material W, three link-type hem punches 27 for hemming the projection shape 15 at the end of the hemmed material W, and an anvil main body. 20 and includes a support bracket 28 that supports and fixes the anvil body 20, and an auxiliary support 29 that supports the anvil 2 and is arranged so that its height can be adjusted.

The anvil main body 20 is a part on which the material W to be hemmed is placed and supported, and is shaped to support the hemmed part of the material W to be hemmed from behind. The anvil main body portion 20 includes a front portion 20a and a rear portion 20b, a lower portion 20c and an upper portion 20d, and a sash portion rear portion 20e for supporting the main body portion of the outer panel W1. The main body of the anvil 2 has a plurality of frames 26 for securing rigidity and reinforcing the anvil main body 20. A plurality of frames 26 are provided at the center of the lower portion of the anvil main body in a hub shape and radially from the central portion. .

The support 21 is a part that supports the material W to be hemmed when it is carried into the anvil 2, and is provided with a lifter 21a for raising and lowering the support 21 by a driving device such as a cylinder. When the material W to be hemmed is carried in, the receiver 21 is held above the anvil body 20 by the lifter 21a. During processing, the support can be lowered by the lifter 21a, but in this embodiment, the transfer robot 5 presses downward to push down the lifter 21a and lower the support 21. FIG. A predetermined number of receivers 21 are provided inside the front portion 20a and the rear portion 20b, and the lower portion 20c and the upper portion 20 of the anvil main body 20, and the number can be adjusted so as to stably support the material W to be hemmed. can.

The gripping device 22 is for sucking and gripping the outer panel W1 constituting the material to be hemmed W placed on the anvil 2, and is not particularly limited, but sucks and grips using negative pressure. A vacuum cup can be employed. A predetermined number of gripping devices 22 are provided inside the front portion 20 a and the rear portion 20 b and the lower portion 20 c and the upper portion 20 d of the anvil body portion 20 . The gripping device 22 is connected to a negative pressure pipe via a valve device (both not shown). The gripping device 22 can be switched between a state in which negative pressure is applied to the contact portion with the material to be hemmed W and a state in which it is not applied by opening and closing the valve device. When a negative pressure is applied to the contact portion of the gripping device 22 with the material W to be hemmed, the gripping device 22 sucks and holds the material W to be hemmed from below. On the other hand, the hemmed material W can be separated from the gripping device 22 unless a negative pressure is applied to the contact portion of the gripping device 22 with the hemmed material W. As shown in FIG.

The ATC device 23 is a well-known automatic tool changer, and is used to attach and detach the ATC device 51 of the transfer robot 5 . The ATC device 23 is provided on the upper side (upper surface) of the hub-shaped frame 26 . Specifically, in a state in which the material to be hemmed W is not placed, the engaging projection provided on the ATC device 51 of the transfer robot 5 is engaged with the engagement provided on the ATC device 23 of the opposing anvil 2 . The transfer robot 5 and the anvil 2 can be connected by positioning and engaging with the matching recess. The ATC device 23 of the anvil 2 and the ATC device 51 of the transfer robot 5 are automatically switched between an attached state and a disengaged state by an actuator (not shown).

The positioning device 24 is for connecting the anvil 2 and the presser material handling 3 by mutual positioning with a positioning device 36 provided at a portion of the presser material handling 3 corresponding to the positioning device 24, as shown in FIG. As shown, four locations are provided on the outside of the anvil body 20 . In this embodiment, the positioning device 24 of the anvil 2 has a positioning pin, and the positioning device 36 of the presser material handle 3 has a positioning hole.

In order to position and connect the anvil 2 and the presser material handle 3 , first, the transfer robot 5 moves the presser material handle 3 and moves the positioning device 36 above the positioning device 24 of the anvil 2 facing them. The anvil 2 and the presser material handling 3 can be positioned by moving the presser material handling 3 downward by the transfer robot 5 and inserting the positioning pin into the positioning hole.

A positioning hole (not shown) is arranged in the end face of the arm portion of the positioning device 36 of the presser material handling 3 . A plurality of engagement holes (not shown) are radially formed in the positioning hole at predetermined intervals in the circumferential direction. On the other hand, a positioning pin (not shown) is arranged on the end surface of the arm portion of the positioning device 24 of the anvil 2 . The tip of the positioning pin is provided with engaging members (not shown) corresponding in number to the engaging holes, and are provided movably in the radial direction. When the positioning pin is inserted through the positioning hole, the engaging member is engaged with the engaging hole by a driving device such as a cylinder, and the anvil 2 and the presser material handle 3 are non-separably connected to each other. On the other hand, when the engaging member is not engaged with the engaging hole, the anvil 2 and the presser material handle 3 are in a non-connected state in which they can be separated from each other. By connecting the anvil 2 and the presser material handling 3 in this manner, the outer panel W1 and the inner panel W2 can be pressurized while the material to be hemmed W is placed on the anvil 2 so as not to be displaced.

The guide device 25 is a device that regulates and positions the hemmed material W with respect to the anvil 2 by restraining the outer peripheral edge portion of the outer panel W1 on which the flange portion is formed in advance. As shown in FIG. 4, the guide device 25 has an outer guide portion 25a that abuts and restrains the outer peripheral edge of the material to be hemmed W at one end, and supports the anvil 2 so as to be rotatable at the other end. and a biasing portion 25c that biases the body so that the upper end of the outer guide portion 25a protrudes from the outer edge of the anvil 2. As shown in FIG. As shown in FIG. 3, a sufficient number of such guide devices 25 are arranged along the outer edge of the anvil 2 to perform hemming while regulating the position of the material W to be hemmed. Since the main body of the guide device is embedded in the outer edge of the anvil 2, even if the roller 63 approaches from the outside of the anvil 2 during hemming, the material to be hemmed W does not interfere with the roller 63. The position can be regulated and positioned.

Further, the urging portion 25c of the guide device sinks when the pressure from the roller 63 is applied so as not to interfere with the roller 63 and hinder the hemming process of the material W to be hemmed. Specifically, when the roller 63 comes into contact with the end portion of the outer guide portion 25a and pressure is applied, the outer guide portion 25a is rotatably supported by the support portion 25b. The sinking motion is performed against the biasing force of the biasing portion 25c centering on the support portion 25b. When the roller 63 passes over the outer guide portion 25a and the pressure force is no longer applied, the outer guide portion 25a returns to the initial position due to the biasing force of the biasing portion 25c, and the hemmed material W is positioned.

Two support brackets 28 are provided on the anvil 2 . A reference hole for positioning is provided in the bearing surface of the support bracket 28 , and a reference pin (not shown) of the anvil support base 4 is inserted for positioning and fixed to the anvil support base 4 .

(Link type hem punch)
The link-type hem punch 27 is used when hemming a portion of the outer panel W1 having a functional shape 15 that is difficult to hemming with a roller. In this embodiment, three link type hem punches 27 are arranged on the anvil 2 as shown in FIG. As shown in FIG. 5, the link-type hem punch 27 includes an arm portion 27b having a hole 27a that engages the finishing roller 67 of the robot 65 shown in FIG. 9, a hem punch 27c, and a bracket 27d having the hem punch 27c. and the arm portion 27b are connected via a link 27e. The hem punch 27c engages the hole portion 27a with the finishing roller 67 of the robot 65, and moves the arm portion 27b up and down by the operation of the robot 65, thereby moving between the retracted position and the bending position about the rotation shaft 27f. It is provided so as to be movable between.

When performing the hemming process with the link type hem punch 27, as shown in FIG. The hem punch 27c is moved from the retracted position to the bending position. In this manner, the hem punch 27c is pressed against the flange to hemm the flange. When the hemming process is completed, the arm portion 27b is returned to its original position by the robot 65 to return the hem punch to the retracted position, thereby releasing the engagement between the finishing roller 67 and the hole portion 27a. Then, the remaining two link-type hem punches 27 are also subjected to the same operation for hemming. When the hemming process by the link-type hem punch 27 is completed, the hemmed portion is pressed by the finishing roller 67 to perform the final finishing process.

In this embodiment, as shown in FIG. 2(b), the hemming edge of the outer panel W1 has a projection shape for engaging the belt molding in a later process. When the hemming end portion having such a special shape is hemmed with a roller, the projection shape is inevitably wavy because the roller hemming process deforms the part to be hemmed. put away. By using a link-type hem punch for such a portion, high-quality hemming can be achieved without deforming the shape by hemming a certain range while keeping the flat surface.
Further, since the link-type hem punch 27 can be operated by the robot 65 without providing a dedicated drive source for the link-type hem punch 27, the anvil 2 can be reduced in weight and size with a simple configuration. As a result, a link-type hem punch can be added while minimizing an increase in the weight of the anvil 2, so that high-quality hemming processing of a hemming portion having a functional shape can be realized without increasing the payload of the transfer robot 5. - 特許庁In this embodiment, three link-type hem punches 27 are used, but the number can be adjusted according to the shape of the material W to be hemmed.

(presser material handling)
As shown in FIG. 7, the presser material handling 3 includes a frame portion 31 corresponding to the shape of the material W to be hemmed, and two reference pins (see FIG. 7) that engage with positioning holes in the inner panel W2 to position the inner panel W2. not shown), a gripping device 33 for gripping the outer panel W1, a presser 34 provided to press the inner panel W2 at a position that does not interfere with the final shape of the outer panel W1, and an ATC device 51 of the transfer robot 5. and a positioning device 36 for positioning the anvil 2 relative to the positioning device 24 and for connecting the anvil 2 and the presser material handle 3 .

The frame portion 31 conveys the material W to be hemmed by the conveying robot 5 while gripping the material W to be hemmed by the gripping device 33 . It is a member having a function of applying pressure to W to fix the material to be hemmed W to the anvil.

Two reference pins are provided on the lower side (lower surface) of the frame portion 31 corresponding to the positioning holes of the inner panel W2. positioning.

The gripping device 33 has a gripping arm 33a arranged on the frame portion 31, a driving device 33c for driving the gripping arm 33a, and a gripping portion 33b for gripping the outer panel W1 at the tip of the gripping arm 33a. In the gripping device 33, the gripping arm 33a is operated by the driving device 33c to convey the hemmed material W to the anvil 2 from a table (not shown) for clamping the hemmed material W by the transport robot 5. At this time, the receiver 21 provided on the anvil 2 is held above the anvil main body 20 by the lifter 21a. In this embodiment, four gripping devices 33 are arranged, but the number can be adjusted so as to ensure the stability of conveying the material W to be hemmed.

The presser 34 is disposed on the lower side (lower surface) of the frame portion 31 as shown in FIG. 7, and is composed of an L-shaped or I-shaped rod-shaped member. An appropriate number of tip portions of the pressers 34 are provided at predetermined intervals so as to press the inner panel W2 at positions that do not interfere with the final shape of the outer panel W1 after hemming.

The ATC device 35 is provided on the upper side (upper surface) of the frame portion 31 . Since the configuration of the ATC device 35 is the same as that of the ATC device 23 of the anvil 2, its explanation is omitted.

The positioning device 36 is provided at a portion corresponding to the positioning device 24 of the anvil 2 , and is positioned relative to the positioning device 24 of the anvil 2 to connect the anvil 2 and the presser material handling 3 . Since the configuration of the positioning device 36 has already been explained in the explanation of the positioning device 24 of the anvil 2, detailed explanation thereof will be omitted.

(transport robot)
The transport robot 5 is an articulated robot, and is provided with an ATC device 51 at the tip of the robot arm so as to grip and transport the presser material handling 3 and carry the material W to be hemmed into and out of the anvil 2 . . The ATC device 51 of the transfer robot 5 and the ATC device 35 of the presser material handling 3 can be connected to carry in and out the material W to be hemmed. Further, when the anvil is exchanged, the ATC device 51 of the transfer robot 5 and the ATC device 23 of the anvil 2 can be connected to each other.
By using a robot to replace the anvil, it has become possible to replace the anvil when changing models within 60 seconds.

In this embodiment, the transport robot 5 does not perform hemming. However, since the transport robot 5 is equipped with an ATC device 51, when the connection with the presser material handling 3 is released, a roller head is installed and hemming is performed. It can also operate as a robot, and the robot can be operated efficiently.

(Hemming robot)
As shown in FIG. 8, the hemming robot 61 is an articulated robot having a roller head 62 attached to the tip of the robot arm. Hemming is performed until the outer peripheral edge portion of the outer panel W1 is in a final shape overlapping the outer peripheral edge portion of the inner panel W2 while pressing the roller 63 attached to the outer panel W1.

In the roller head 62 of this embodiment, as shown in FIG. 8, the pressure axis AA of the roller 63 is attached with an inclination of 30 to 60 degrees with respect to the junction with the tip of the robot, and the roller A swivel roller head 62 in which the pressure axis AA of 63 is rotatable is employed. As a result, the workable range of the rollers 63 can be expanded, and mutual interference between robots during hemming can be reduced.

A finishing punch 64 is mounted adjacent to the roller 63 as shown in FIG. With this configuration, when the roller hemming process is finished, the same robot can be operated to immediately move to the finishing process of hemming using the finishing punch 64, which is advantageous in shortening the process.

In this embodiment, there are three transfer robots 5 which are equipped with an ATC device 51 and which can be selected from the presser material handling 3, the anvil 2, and the roller head 61. The hemming machine 1 is composed of two hemming robots. The number of these robots can be adjusted according to the shape of the material W to be hemmed and the required processing time.

(motion)
An operation using the hemming apparatus 1 configured as described above will be described. The conveying robot 5 grips the presser material handler 3 by the ATC device 51, and holds the pre-flanged outer panel W1 and the inner panel W2 placed on the outer panel W1 placed on a table (not shown) for placing the material W to be hemmed. The outer panel W<b>1 is clamped and gripped by the gripping device 33 of the presser material handling 3 . The transport robot 5 grips the material W to be hemmed via the presser material handling 3 and carries the material W to be hemmed onto the anvil 2 . At this time, the receiver 21 provided on the anvil 2 is held above the anvil main body 20 by the lifter 21a. Even after the clamp is released, the material to be hemmed W is supported by the receiver 21 held above the anvil main body 20, so that the transfer robot 5 gripping the presser material handling 3 pushes downward to the lifter. 21a is pushed down to bring the material to be hemmed W into contact with the anvil main body 20. As shown in FIG. After that, the hemmed material W is sucked and held from below by the negative pressure acting on the contact portion of the anvil 2 with the gripping device 22, and at the same time, the anvil 2 and the presser material handling 3 are connected by the positioning devices 24 and 36, It is pressurized and supported by the anvil 2 .

When the hemmed material W is completely pressurized and supported on the anvil 2, the transfer robot 5 is disconnected from the presser material handling 3 and retreats. The material to be hemmed W placed on the anvil 2 is fixed to the anvil 2 by the suction force of the gripping device 22 of the anvil 2 and the support by the connection between the presser material handle 3 and the anvil 2, as described above.

A hemming robot 61 performs hemming on the outer peripheral edge of the outer panel W1 placed on the anvil 2 . A pre-bending process is performed to bend the outer panel W1 at a predetermined angle while pressing the roller 63 against the outer peripheral edge of the outer panel W1, and then the pre-bent outer peripheral edge of the outer panel W1 overlaps the peripheral edge of the inner panel W2. Final bending is performed by pressing until the final shape is obtained, and the hemming of the outer peripheral edge of the outer panel W1 is completed.

Hemming is performed on the outer panel W1 belt portion 14 provided with the projection shape 15 while performing roller hemming on the outer peripheral edge of the outer panel. As shown in FIG. 6, the finishing roller 67 of the robot 65 is engaged with the hole 27a of the link type hem punch 27, and presses the arms 27b of the three hem punches in order. As a result, the hem punch 27c is rotated from the standby position to the processing position for hemming. Since the portion to be hemmed is previously bent by about 45 degrees in the preceding process, the bending is completed in one step. Thereafter, the robot 65 releases the engagement between the finishing roller 67 and the hole portion 27a, and finishes the portion bent by the finishing roller 67. As shown in FIG.

After completion of the hemming process, the positioning devices 24 and 36 disconnect the anvil 2 and the presser material handle 3 . The evacuated transfer robot 5 moves to the upper portion of the presser material handle 3, grips the presser material handle 3 with the ATC device 51, and picks up the material W to be hemmed next. Then, the transport robot 68 of the next process grips the material W to be hemmed by a material handling (not shown) and transports it to the next process, thus completing a series of hemming processes.

(Second embodiment)
A second embodiment will be described. Descriptions of configurations common to the first embodiment will be omitted, and only different configurations will be described.
Since the four corners of the material W to be hemmed may correspond to parts of the material to be hemmed that are difficult to hemming, in this embodiment, link-type hem punches (not shown) are applied to the four corners. are placed and hemmed.

When the corner portion is hemmed with a hemming roller, depending on the shape of the corner portion, it may be necessary to reciprocate the roller many times in order to avoid the occurrence of wrinkles and cracks. In that case, a link-type hem punch is arranged at each corner, and the link-type hem punch performs hemming of each corner. With this configuration, it is possible to perform the hemming process on the corner portion with higher quality in a shorter time.

In this case as well, in order to minimize the increase in the weight of the anvil, a link type hem punch similar to that used in the first embodiment, which uses the robot as an actuation source, is arranged to prevent an increase in the payload of the robot. there is
With these configurations, the hemming of each corner can be performed with high quality in a short time without increasing the load capacity of the robot when replacing the anvil.

1 hemming device 2 anvil 3 presser material handling 5 transfer robot 15 projection shape (functional shape)
27 Link type hem punch W Material to be hemmed

Claims (2)

A hemming apparatus comprising a lightweight anvil that can be replaced by a transfer robot, a hemming robot equipped with a hemming roller, and a robot equipped with a finishing roller for hemming,
At a portion of the material to be hemmed that is difficult to hemming with the hemming roller, one or more link-type hem punches without a drive source are attached to the anvil, and the hem punch is connected to the finishing roller of the robot by the link. The hemming material is hemmed by being engaged with a hole formed in the end of the arm of the hem punch, and the anvil can be replaced by the transfer robot even when the link hem punch is attached. characterized by being configured as
Hemming equipment. The portion difficult to be subjected to the roller hemming process is a portion provided with a functional shape that requires shape accuracy at the end of the material to be hemmed.
The hemming device according to claim 1.

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