A rolling folding device for opening a window of a sheet metal part and a folding method thereof

Abstract

The present invention provides a rolling folding device for sheet metal window opening and a folding method thereof, comprising: a positioning mechanism for clamping and positioning the sheet metal, a window opening is arranged on the sheet metal, the edge of the window opening has an edge after being folded, and the top corner of the edge is a rounded corner; a gantry is installed on the positioning mechanism, a multi-axis robot is fixed on the gantry, and a rolling folding mechanism is installed on the mechanical arm of the multi-axis robot; the rolling folding mechanism comprises a retaining frame, a folding wheel, a pressure wheel assembly and a clamping drive, the folding wheel is rollingly installed on the retaining frame, the folding wheel has a flat end face, the end face is close to the edge of the window opening and rolls and rubs with the edge; the clamping drive is installed with a pressure wheel assembly for rotating the pressure wheel assembly so that the pressure wheel assembly cooperates with the folding wheel to clamp the edge; the multi-axis robot drives the rolling folding mechanism to move along the path of the window opening and bend the edge upward. The present invention has smooth and flat edge bending, no cutting and welding seams at the top corners of the edge, and good sealing performance.

Description

Technical Field

[0001] The invention belongs to the technical field of metal processing equipment, and in particular relates to a rolling folding device for opening a window of a sheet metal part and a folding method thereof. Background Art

[0002] Some industrial sheet metal parts have windows, such as the air conditioning windows on the roof of a bus. The air conditioner is installed in a rectangular window, and the edges of the window need to be folded before installation. Some factories use manual folding methods, but it is difficult to fold the top corners of the window. It is impossible to achieve regular rounded corners manually, so only right-angle slits can be used and then welded. Figure 1 As shown, a seam 2' is usually cut at the top corner of the window 1', and then the edge is folded upward, and then the seam 2' is welded at the end of the adjacent edge. This processing method has weak edge sealing and may cause rainwater leakage; and the size is unstable, the consistency is poor, and the appearance is poor. Manual folding efficiency is low, and the average folding speed of skilled workers is about 10mm / s.

[0003] In addition, the existing rolling folding device is usually implemented by multiple rollers. For example, the patent with announcement number CN107537942B discloses a rolling folding device and method for folding the edge area of ​​a sheet member. The rolling folding device has a robot-guided rolling folding head, which has a folding roller that can move along the edge area of ​​the sheet member to be folded in the folding direction, and has a holding device for holding the sheet member in a limited position, by means of which a pressing force can be directly applied to the edge area of ​​the sheet member, wherein the holding device has a first pressing roller arranged in front of the folding roller in the folding direction and a second pressing roller arranged behind the folding roller in the folding direction. The first pressing roller and the second pressing roller are both fixedly installed, have low compatibility, and are difficult to adapt to a narrow working space. The contact area between the first pressing roller and the second pressing roller and the edge is small, which affects the flatness of the edge plane. The patent also does not disclose a solution for folding the top corners of a rectangular window.

[0004] The patent application with announcement number CN110328266A provides a folding tool, a folding assembly and a folding method; the folding tool includes a bracket and a folding workpiece; the folding workpiece includes a bracket connecting rod and a rolling member, one end of the bracket connecting rod is fixedly connected to the bracket, and the rolling member is rotatably connected to the other end of the bracket connecting rod, which is used to contact with the sheet metal part to roll and press the sheet metal part so as to fold the edge of the sheet metal part; the folding assembly includes a clamping assembly and a folding tool; the clamping assembly is installed on a machine tool; the bracket is connected to the machine tool in a rotatable and feedable or retreating manner, and is configured to drive the rolling member to roll and press or move away from the sheet metal part clamped in the clamping assembly; the folding method is applied to the aforementioned folding assembly; the invention can at least alleviate the technical problems existing in the prior art that the folding work mainly relies on manual bending using tools such as bending pliers, which is inconvenient and inefficient, and the edge is not neat after folding. The workpiece applicable to the folding tool is circular, which is different from the window structure of the present application, and cannot solve the solution of how to fold the top corner of the rectangular window of the present application. The two sets of folding workpieces of the folding tool are also installed in a relatively fixed manner, and the processing compatibility with the products is low; the linear motion cylinder structure of the folding tool cannot be used for folding in narrow spaces; the roller diameter is large and cannot be used for folding with smaller radius corners.

[0005] In addition, since the thickness of the steel plate has a great influence on the degree of hemming completion, the thicker the steel plate, the greater the force on the cylinder at the rounded corner. The ordinary linear motion cylinder is not a crank-connecting rod mechanism that is self-locking at the dead point. When the thick plate is hemmed, the bending force is large, and the cylinder may not be able to clamp. Therefore, the above-mentioned hemming or hemming mechanism is generally suitable for thin steel plates of about 0.6mm, but cannot meet the requirements of hemming or hemming for steel plates with a thickness of 1mm or more. Summary of the invention

[0006] The purpose of the present invention is to provide a rolling folding device and a folding method for sheet metal windows, so as to solve the problems of difficulty in folding at the top corners of rectangular windows, poor sealing, low efficiency, unstable size, difficulty in folding thick plates, and low folding flatness.

[0007] The present invention provides the following technical solutions:

[0008] A rolling folding device for opening a window of a sheet metal part, comprising:

[0009] A positioning mechanism is used to clamp and position a sheet metal part, wherein a plurality of windows are provided on the sheet metal part, wherein edges appear after the windows are folded, and the top corners of the edges are rounded; a gantry is installed above the positioning mechanism;

[0010] A multi-axis robot is fixed on the gantry, a roll-folding mechanism is installed on the mechanical arm of the multi-axis robot, and the multi-axis robot is used to move and rotate the roll-folding mechanism;

[0011] Wherein, the rolling mechanism comprises a retaining frame, a folding wheel, a pressure wheel assembly and a clamping drive member, and the retaining frame is fixed on the mechanical arm;

[0012] The folding wheel is rollingly mounted on the retaining frame, and the folding wheel has a flat end surface, and the end surface rotates closely against the edge of the window;

[0013] The clamping drive is fixedly mounted on the retaining frame, the pressure wheel assembly is mounted on the output end of the clamping drive, and the clamping drive is used to rotate the pressure wheel assembly so that the pressure wheel assembly cooperates with the hemming wheel to clamp the edge;

[0014] The multi-axis robot drives the rolling mechanism to move along the path of the window opening and bend the edge upwards. The rolling mechanism bends the edge multiple times, and the bending angle gradually increases.

[0015] Preferably, the end of the retaining frame is fixedly mounted with a first rotating shaft; the folding wheel includes a mounting portion and a folding portion mounted on the first rotating shaft, the mounting portion is cylindrical, the folding portion is truncated cone, and the angle between the end face of the folding portion and the side wall of the folding portion is an acute angle. During the rolling of the folding wheel, the wheel rim of the end face squeezes the sheet metal to form a folding line on the edge.

[0016] Preferably, the pressure wheel assembly includes a wheel seat, a second rotating shaft and a pressure wheel, the wheel seat is fixed on the clamping drive member, the second rotating shaft is rotatably mounted on the wheel seat, and there is an angle between the second rotating shaft and the extension line of the end face; the pressure wheel is coaxially fixed on the second rotating shaft, the pressure wheel is a frustum that is wide at the top and narrow at the bottom, and a gap for accommodating edges is provided between the wheel wall of the pressure wheel and the end face, and the wheel wall of the pressure wheel is parallel to the end face at the gap.

[0017] Preferably, the clamping drive is a welded clamping cylinder, and the wheel seat is mounted on the pressure arm of the clamping drive by a plurality of bolts. The clamping drive rotates the wheel seat so that the pressure wheel presses the edge against the end face of the folding wheel; the clamping drive includes a stroke sensing switch to sense whether the rotation stroke of the clamping drive is in place.

[0018] Preferably, a gasket is installed between the pressure arm and the wheel seat to adjust the gap between the wheel wall of the pressure wheel and the end surface.

[0019] Preferably, a first limit block is installed on the back side of the pressure arm, and a second limit block is installed on the retaining frame. During the folding process, the first limit block abuts against the second limit block to limit the rotation angle of the clamping drive member.

[0020] Preferably, the fillet radius of the edge is greater than or equal to 20 mm, and the end diameter of the pressing wheel is greater than or equal to 12 mm.

[0021] Furthermore, the positioning mechanism includes a fixed seat, a movable seat, an X-axis driving mechanism and a Y-axis driving mechanism, the fixed seat is provided with an X-axis guide rail, the X-axis driving mechanism can drive the movable seat to translate along the X-axis guide rail, the X-axis driving mechanism includes a motor, a gear and a rack, the motor is fixed on the movable seat, the gear is fixed on the output shaft of the motor, and the rack is fixed on the fixed seat along the X-axis direction; a stop rod is provided at the end of the movable seat in the X-axis direction for limiting the end of the sheet metal part.

[0022] Preferably, the sheet metal part is a cover body with an open bottom; a bidirectional lead screw is provided on the movable seat along the Y-axis direction, and counter-rotating threads are provided at both ends of the bidirectional lead screw, and abutment blocks are symmetrically installed on the two sections of counter-rotating threads. The bidirectional lead screw is rotated to make the two abutment blocks abut against the inner side of the sheet metal part to center the sheet metal part.

[0023] The rolling hemming method for opening a window of a sheet metal part comprises the following steps:

[0024] A window is cut on the sheet metal, and the top corner of the window is a rounded structure without cutting seams;

[0025] Fixing the sheet metal part on the positioning mechanism so that the window opening of the sheet metal part is located within the operating range of the multi-axis robot;

[0026] The multi-axis robot presses the folding wheel onto the edge of the window at an angle of 30°, and the pressing wheel opens relative to the folding wheel and extends into the window;

[0027] The clamping driving member rotates the pressing wheel so that the pressing wheel is pressed under the edge and cooperates with the folding wheel to bend the edge upward, and the end surface of the folding wheel and the wheel wall of the pressing wheel are both in close contact with the edge;

[0028] The multi-axis robot drives the rolling and folding mechanism to move along the path of the window opening to complete a folding cycle; during the folding process, the wheel rim of the end surface rotates to press the sheet metal part to form a folding line of the edge, and the pressing wheel automatically rotates in accordance with the edge;

[0029] The multi-axis robot adjusts the folding wheel to press on the edge of the window at an angle of 60° and 90° respectively, completes two folding cycles on the edge, and folds the edge to 90°;

[0030] The clamping drive member opens and resets the pressing wheel, and the multi-axis robot moves the folding mechanism away from above the sheet metal part to take away the sheet metal part.

[0031] The beneficial effects of the present invention are:

[0032] The present invention arranges a rounded corner at the top corner of the window, folds the edge continuously at the rounded corner, and the folded corner is a multiple progressive bend, which solves the problem that a regular rounded corner fold cannot be achieved by manually cutting and breaking the top corner and then welding the broken edge. The present invention forms an integrated continuous folded edge after folding, improves the sealing of the edge, and is more suitable for occasions with high requirements on sealing and water permeability, such as the air conditioning vents on the roof of a bus.

[0033] The present invention installs a multi-axis robot on a gantry, and uses the multi-axis robot to move and rotate a rolling and folding mechanism, so that the rolling and folding mechanism folds the edge of the window according to a set path, with a high degree of automation, high operating precision, and a smooth and flat folding effect. The rolling and folding mechanism includes a folding wheel fixed on a mechanical arm and a pressing wheel movable relative to the folding wheel. The folding portion of the folding wheel is a truncated cone, and the end face close to the edge is located on the folding portion. The end face and the edge are rolled and rubbed. During the rolling process, the wheel rim of the end face squeezes the sheet metal to form a folding line of the edge, so that the folding effect is smoother, neater, and more precise.

[0034] The pressing wheel of the present invention is fixed on the second rotating shaft, and there is an angle between the second rotating shaft and the extension line of the end face of the folding wheel. By utilizing this angle, the clamping force applied by the clamping drive to the pressing wheel has a component force perpendicular to the end face, thereby increasing the torque for bending the edge, making the clamping and folding effects more reliable, reducing the number of folding times, and improving processing efficiency.

[0035] The pressure wheel of the present invention is installed on the pressure arm of the welding type clamping cylinder, and the clamping cylinder occupies a small space and is flexible to use. When the window opening area is small, the ordinary linear drive module and the pressure wheel assembly cannot be moved inside the window opening, while the clamping cylinder of the present invention is located outside the window opening, and the clamping cylinder rotates the pressure wheel assembly with the hinge point of its pressure arm as the center of the circle, so that the pressure wheel assembly rotates relative to the folding wheel, thereby achieving the clamping and folding of the edge, and solving the problem that it is difficult to move the pressure wheel assembly due to the small window opening area. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0037] Figure 1 It is a schematic diagram of the existing window structure before the sheet metal part is folded;

[0038] Figure 2 is a schematic diagram of the overall structure of embodiment 1 of the present invention;

[0039] Figure 3 is an enlarged structural diagram of the X-axis driving mechanism of Example 1 of the present invention;

[0040] Figure 4 is a partial structural schematic diagram of another viewing angle of Embodiment 1 of the present invention;

[0041] Figure 5 is a schematic diagram of a rolling and folding mechanism according to Embodiment 1 of the present invention;

[0042] Figure 6 is a schematic diagram of the rolling and folding mechanism of Embodiment 1 of the present invention from another viewing angle;

[0043] Figure 7 is a schematic diagram of the rolling and folding mechanism of Embodiment 1 of the present invention from another viewing angle;

[0044] Figure 8 is a schematic diagram of a window opening structure according to Embodiment 1 of the present invention;

[0045] Fig. 9 Schematic diagram of the folding process of Example 1 of the present invention;

[0046] Fig.10 It is a schematic diagram of the back structure of the sheet metal part of the present invention;

[0047] Fig.11 is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0048] Fig.12 It is a schematic diagram of the local structure of Example 2 of the present invention.

[0049] The markings in the figure are: 1. sheet metal; 2. window; 3. edge; 4. vertex angle of edge; 5. fixed seat; 6. moving seat; 7. motor; 8. gear; 9. rack; 10. stop rod; 11. bidirectional screw; 12. stop block; 13. gantry; 14. multi-axis robot; 15. cage; 16. folding wheel; 17. pressure wheel assembly; 18. clamping drive; 19. support block; 20. first rotating shaft; 21. end face; 22. mounting part; 23. folding part; 24 .Wheel rim on the end face; 25. Solenoid valve; 26. Travel sensing switch; 27. Pressing arm; 28. Wheel seat; 29. ​​Second rotating shaft; 30. Pressing wheel; 31. Gap; 32. Gasket; 33. First limit block; 34. Second limit block; 35. Positioning block; 36. Gantry guide rail; 37. Second motor; 38. Second rack; 39. Second gear; 40. X-axis guide rail; 41. Workbench; 42. Linear drive device; 43. Folding line; 44. Support reinforcement. DETAILED DESCRIPTION

[0050] Example 1

[0051] like Figures 2 to 9As shown, this embodiment discloses a rolling folding device for sheet metal window openings. The sheet metal part 1 is a cover with an open bottom, such as a bus roof. The sheet metal part 1 is provided with a plurality of windows 2, such as air conditioning installation windows. The sizes of the windows 2 can be the same or different. Please refer to Figure 8 After the edge of the window 2 is folded, a ridge 3 appears, and the top corner 4 of the ridge is a rounded corner. The rounded corner and the ridge 3 are an integral structure without cutting and welding.

[0052] The rolling folding device comprises: a positioning mechanism, a multi-axis robot and a rolling folding mechanism.

[0053] Please refer to Figures 2 to 4 The positioning mechanism is used to clamp and position the sheet metal part 1. The positioning mechanism includes a fixed seat 5, a movable seat 6, an X-axis driving mechanism and a Y-axis driving mechanism. The fixed seat 5 is horizontally fixed on the workbench 41. Two parallel X-axis guide rails 40 are provided on the fixed seat 5. The X-axis driving mechanism can drive the movable seat 6 to translate along the X-axis guide rails 40. The X-axis driving mechanism includes a motor 7, a gear 8 and a rack 9 meshing with the gear 8. The motor 7 is fixed on the movable seat 6, the gear 8 is fixed on the output shaft of the motor 7, and the rack 9 is fixed on the fixed seat 5 along the X-axis direction. A stop rod 10 is provided at the end of the movable seat 6 for limiting the end of the sheet metal part 1 and calibrating the starting point. Place the sheet metal part 1 on the movable seat 6 so that the end of the sheet metal part 1 abuts against the stop rod 10, then start the motor 7, and drive the movable seat 6 to move along the X-axis direction through the gear and rack assembly to move the window 2 to the coordinate corresponding to the folding starting point.

[0054] Please refer to Figure 4 A bidirectional lead screw 11 is installed on the movable seat 6 along the Y-axis direction. Both ends of the bidirectional lead screw 11 are provided with counter-rotating threads, for example, one end is a left-handed thread and the other end is a right-handed thread. Abutment blocks 12 are symmetrically installed on the two sections of counter-rotating threads. By rotating the bidirectional lead screw 11, the two abutment blocks 12 can be abutted against the inner side of the sheet metal part 1, so that the sheet metal part 1 is centered in the Y-axis direction, thereby ensuring the folding accuracy.

[0055] A gantry 13 is installed above the positioning mechanism. The multi-axis robot 14 is fixed on the crossbeam of the gantry 13, and it can work in a downward direction, with sufficient operating space. The multi-axis robot 14 can be a six-axis robot, and a rolling mechanism is installed on the mechanical arm of the multi-axis robot 14. The rolling mechanism can move and rotate within six degrees of freedom to flexibly bend the edge 3. A moving trajectory matching the shape of the window 2 is stored in the multi-axis robot 14, and the multi-axis robot 14 drives the rolling mechanism to move along the path of the window 2 to bend the edge 3 upward. Fig. 9 As shown, the rolling mechanism can perform multiple bending processes on the edge 3, and the bending angle gradually increases until the edge is bent into a right angle, for example, 30°, 60°, and 90° bending are performed in sequence. The selection of the number of bending times and angles ensures both processing efficiency and bending quality.

[0056] The rolling mechanism includes a retaining frame 15 , a folding wheel 16 , a pressure wheel assembly 17 and a clamping drive member 18 .

[0057] Please refer to Figures 5 to 7 The retaining frame 15 is fixed on the robot arm, and a support block 19 is installed at the lower end of the retaining frame 15. There is an angle between the support block 19 and the retaining frame 15. The other end of the support block 19 is installed with a first rotating shaft 20. The folding wheel 16 is coaxially installed on the first rotating shaft 20. A bearing is installed between the folding wheel 16 and the first rotating shaft 20 to improve the rotation flexibility of the folding wheel 16.

[0058] The folding wheel 16 has a planar end face 21. During the folding process, the end face 21 is in close contact with the edge 3 of the window 2 and rotates and rubs against the edge 3. There is surface contact between the two, which ensures the flatness of the edge.

[0059] The folding wheel 16 includes an integrally formed mounting portion 22 and a folding portion 23. The mounting portion 22 is cylindrical, and the folding portion 23 is truncated cone-shaped. The angle between the end face 21 of the folding portion 23 and the truncated cone side wall of the folding portion is an acute angle. Therefore, in the process of the folding wheel 16 rolling along the edge 3, the wheel rim 24 of the end face squeezes the sheet metal to form a folding line 43 of the edge. The folding line 43 makes the folding effect of the edge 3 neat and smooth.

[0060] The clamping drive 18 is fixedly mounted on the retaining frame 15. The clamping drive 18 can use a welding clamping cylinder, such as the V / V2 V 63.1 produced by TUNKERS, or the JCK high-strength welding clamping cylinder produced by Airtac. This type of clamping cylinder has a large self-locking force, with a maximum holding torque of 1500Nm and a 5bar air pressure clamping torque of 380Nm, which ensures the strength and stability of the edge bending force, and can achieve folding of 1.2mm thick steel plates. Because it has a high self-locking force, it can continuously lock the pressure arm 27 during bending, making the folding at the rounded corners smooth and flat. The clamping cylinder is a thin cylinder that occupies a small space and is suitable for compact working spaces, such as the window folding in this embodiment. The opening angle of the pressure arm 27 of the clamping drive 18 is adjusted by the internal adjustment screw, which is infinitely adjustable within its clamping stroke range, so the folding angle can be freely adjusted, and has strong compatibility.

[0061] The clamping drive 18 includes a stroke sensing switch 26 to sense whether the output stroke of the clamping drive is in place. A solenoid valve 25 electrically connected to the clamping drive 18 is also installed on the retaining frame 15, and a controller is connected to the solenoid valve 25 to control the action flow of the clamping drive 18.

[0062] The output end of the clamping drive 18 is hinged to the pressure arm 27, and the other end of the pressure arm 27 is installed with the pressure wheel assembly 17. The clamping drive 18 can rotate the pressure arm 27 and the pressure wheel assembly 17 so that the pressure wheel 30 presses the edge 3 against the end face 21 of the folding wheel to achieve bending of the edge 3.

[0063] Specifically, the pressure wheel assembly 17 includes a wheel seat 28, a second rotating shaft 29 and a pressure wheel 30. A plurality of threaded holes are provided on the lower side of the pressure arm 27, and the wheel seat 28 is fastened to the pressure arm 27 by a plurality of bolts, ensuring that the clamping drive effectively transmits the clamping force to the pressure wheel 30.

[0064] Please refer to Figure 6 and Figure 7 , a bearing is installed on the wheel seat 28, and the second rotating shaft 29 is rotatably installed on the bearing of the wheel seat 28. There is an angle a between the second rotating shaft 29 and the extension line of the end face 21; the pressing wheel 30 is coaxially fixed on the second rotating shaft 29, and the pressing wheel 30 is a truncated cone shape with a wide top and a narrow bottom, and a gap 31 for accommodating the edge is provided between the wheel wall of the pressing wheel 30 and the end face 21, and the wheel wall of the pressing wheel 30 is parallel to the end face 21 at the gap. There is an angle a between the second rotating shaft 29 of the present invention and the extension line of the end face 21, so that the clamping force applied by the clamping drive 18 to the pressing wheel 30 has a component force perpendicular to the end face 21, so that the pressing wheel 30 cooperates with the end face 21 to bend the edge 3 more reliably and effectively. The pressing wheel 30 is in the shape of a truncated cone with a wide top and a narrow bottom. When the clamping driving member 18 rotates the pressing wheel 30 to the right position, the gap 31 between the pressing wheel 30 and the end face 21 just accommodates the edge 3, thereby achieving the bending of the edge 3. The wheel wall of the pressing wheel 30 is parallel to the end face 21 at the gap, that is, they roll and rub against the edge at the same time, and the three cooperate with each other to make the rolling folding effect of the edge neat and smooth.

[0065] A gasket 32 ​​is installed between the pressing arm 27 and the wheel seat 28, and the number of the gaskets 32 can be flexibly adjusted to adjust the width of the gap 31 between the pressing wheel and the end surface, so that the device is suitable for folding edges of different thicknesses and has strong compatibility.

[0066] A first stop block 33 is installed on the back of the pressure arm 27, and a second stop block 34 engaged with the first stop block 33 is installed on the retaining frame 15. During the folding process, the first stop block 33 abuts against the second stop block 34, and the rotation angle of the clamping drive 18 is physically limited to prevent the pressure wheel assembly from rotating excessively. In addition, since the clamping force output by the clamping drive 18 is relatively large, and the first stop block 33 abuts against the second stop block 34, reverse pressure can be applied to the end of the pressure arm 27, preventing the lower end of the pressure arm 27 from being suspended when subjected to a large pressure, causing the pressure wheel assembly 17 to deform when subjected to pressure, thereby affecting the folding accuracy and flatness.

[0067] In this embodiment, the fillet radius of the edge 3 is greater than or equal to 20 mm, and the end diameter of the pressing wheel 30 is greater than or equal to 15 mm. If the fillet radius of the edge 3 is smaller and the diameter of the pressing wheel 30 is larger, the pressing wheel 30 cannot fold the fillet when rolling over the fillet. Fig.10 , a support reinforcement 44 (such as a pipe) is usually installed on the back of the sheet metal part. The support reinforcement 44 is close to the window opening. The distance b from the horizontal and vertical sides of the window opening 2 to the support reinforcement is at least 10 mm to ensure that the folding process is completed smoothly. The window opening of the present invention has a large fillet radius and a small pressure wheel diameter. The pressure wheel 30 will not interfere with the support reinforcement 44, so that the folding process is completed smoothly.

[0068] The rolling hemming method for opening a window of a sheet metal part comprises the following steps:

[0069] A window 2 is cut on the sheet metal part 1, and the edge of the window is polished smooth if necessary, so that the top corner of the window is a rounded structure without cutting seams;

[0070] Fix the sheet metal part 1 on the positioning mechanism, align one end of the sheet metal part with the stop rod 10, and drive the moving seat 6 to move the window opening 2 to the operation origin. Then turn off the motor 7. At this time, the window opening 2 of the sheet metal part is within the operation range of the multi-axis robot 14.

[0071] The multi-axis robot 14 presses the folding wheel 16 onto the edge 3 of the window opening at an angle of 30°, and at this time, the pressing wheel 30 opens relative to the folding wheel 16 and extends under the window opening 2;

[0072] The clamping driving member 18 rotates the pressing wheel 30 so that the pressing wheel 30 is pressed under the edge 3, and cooperates with the folding wheel 16 to bend the edge 3 upward, with a bending angle of 30°, and the end surface 21 of the folding wheel 16 and the wheel wall of the pressing wheel 30 are both in close contact with the edge 3;

[0073] The multi-axis robot 14 drives the rolling mechanism to move along the path of the window opening 2 until it returns to the starting point, completing a folding cycle; during the folding process, the wheel rim 24 of the end face rotates to squeeze the sheet metal part 1 to form a folding line 43 of the edge, and the pressing wheel 30 automatically rotates in accordance with the edge 3;

[0074] The clamping drive 18 releases the pressing wheel assembly 17, and the mechanical arm of the multi-axis robot 14 rotates to adjust the inclination of the folding wheel 16, and presses on the edge 3 of the window at an inclination of 60° and 90° respectively. The clamping drive 18 accordingly presses the pressing wheel assembly 17 again, cooperates with the folding wheel 16, completes two folding beats for the edge 3, and folds the edge to 90°;

[0075] The clamping drive 18 opens and resets the pressing wheel 30 , and the multi-axis robot 14 moves the folding mechanism away from above the sheet metal part 1 and takes away the sheet metal part 1 .

[0076] The device is used to fold the windows of the air conditioner on the top cover of the car. The folding speed can reach 400mm / s, and the folding is formed in one time without the need for repair welding.

[0077] Example 2

[0078] like Fig.11 and Fig.12 As shown, the difference between this embodiment and the embodiment is that the positioning mechanism of this embodiment is fixed, and the gantry moves relative to the positioning mechanism to achieve the folding of the window on the sheet metal part.

[0079] The positioning mechanism is provided with a linear drive device 42 extending along the Y axis, and the linear drive device 42 can be a lead screw or a linear module. Two X-axis guide rails 40 are installed on the front and rear sets of linear drive devices 42; positioning blocks 35 are installed at both ends of the X-axis guide rails 40. The linear drive device 42 can change the spacing between the two X-axis guide rails 40, so that the positioning blocks 35 abut against the side wall of the cover of the sheet metal part 1, and the sheet metal part is positioned in the Y-axis direction.

[0080] Please refer to Fig.12 A gantry guide rail 36 extending along the X-axis is installed on the workbench, and the two columns of the gantry 13 can move along the two gantry guide rails. A second rack 38 is fixed on the inner wall of the gantry guide rail 36, a second motor 37 is installed on the gantry 13, and a second gear 39 meshing with the second rack 38 is installed on the output shaft of the second motor 37. After the second motor 37 is started, the second gear 39 and the second rack 38 drive the gantry 13 to move along the gantry guide rail 36 until the multi-axis robot 14 stops moving when it is located at the folding origin above the window.

[0081] The other structures of this embodiment are the same as those of embodiment 1.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rolling folding device for opening a window of a sheet metal part, characterized in that: include: A positioning mechanism is used to clamp and position a sheet metal part, wherein a plurality of windows are provided on the sheet metal part, and edges of the windows are folded to form edges, and the top corners of the edges are rounded; a gantry is installed above the positioning mechanism; A multi-axis robot is fixed on the gantry, a roll-folding mechanism is installed on the mechanical arm of the multi-axis robot, and the multi-axis robot is used to move and rotate the roll-folding mechanism; Wherein, the rolling mechanism comprises a retaining frame, a folding wheel, a pressure wheel assembly and a clamping drive member, and the retaining frame is fixed on the mechanical arm; The folding wheel is rollingly mounted on the retaining frame, and the folding wheel has a flat end surface, and the end surface rotates closely against the edge of the window; The clamping drive is fixedly mounted on the retaining frame, the pressure wheel assembly is mounted on the output end of the clamping drive, and the clamping drive is used to rotate the pressure wheel assembly so that the pressure wheel assembly cooperates with the hemming wheel to clamp the edge; The multi-axis robot drives the rolling mechanism to move along the path of the window opening and bend the edge upwards, and the rolling mechanism bends the edge multiple times, and the bending angle gradually increases; The pressing wheel assembly comprises a wheel seat, a second rotating shaft and a pressing wheel, wherein the wheel seat is fixed on the clamping drive member, the second rotating shaft is rotatably mounted on the wheel seat, and an angle is formed between the second rotating shaft and an extension line of the end face; the pressing wheel is coaxially fixed on the second rotating shaft, the pressing wheel is a truncated cone shape with a wide top and a narrow bottom, and a gap for accommodating edges is provided between the wheel wall of the pressing wheel and the end face, and the wheel wall of the pressing wheel is parallel to the end face at the gap; The back side of the sheet metal part is supported by a supporting reinforcement part, and the supporting reinforcement part keeps a distance from the edge of the window.

2. The rolling folding device according to claim 1, characterized in that: The first rotating shaft is fixedly installed at the end of the retaining frame; the folding wheel includes a mounting portion and a folding portion mounted on the first rotating shaft, the mounting portion is cylindrical, the folding portion is truncated cone, and the angle between the end face of the folding portion and the side wall of the folding portion is an acute angle. During the rolling process of the folding wheel, the wheel rim of the end face squeezes the sheet metal to form a folding line on the edge.

3. The rolling folding device according to claim 1, characterized in that: The clamping drive is a welded clamping cylinder, and the wheel seat is mounted on the pressure arm of the clamping drive by multiple bolts. The clamping drive rotates the wheel seat so that the pressure wheel presses the edge against the end surface of the folding wheel; the clamping drive includes a stroke sensing switch to sense whether the rotation stroke of the clamping drive is in place.

4. The rolling folding device according to claim 3, characterized in that: A gasket is installed between the pressure arm and the wheel seat to adjust the gap between the wheel wall of the pressure wheel and the end surface.

5. The rolling folding device according to claim 3, characterized in that: A first limit block is installed on the back of the pressure arm, and a second limit block is installed on the retaining frame. During the folding process, the first limit block abuts against the second limit block to limit the rotation angle of the clamping drive member.

6. The rolling folding device according to claim 1, characterized in that: The fillet radius of the edge is greater than or equal to 20 mm, and the end diameter of the pressing wheel is greater than or equal to 12 mm.

7. The rolling folding device according to any one of claims 1 to 6, characterized in that: The positioning mechanism includes a fixed seat, a movable seat, an X-axis driving mechanism and a Y-axis driving mechanism. The fixed seat is provided with an X-axis guide rail. The X-axis driving mechanism can drive the movable seat to translate along the X-axis guide rail. The X-axis driving mechanism includes a motor, a gear and a rack. The motor is fixed on the movable seat, the gear is fixed on the output shaft of the motor, and the rack is fixed on the fixed seat along the X-axis direction. A stop rod is provided at the end of the movable seat in the X-axis direction for limiting the end of the sheet metal part.

8. The rolling folding device according to claim 7, characterized in that: The sheet metal part is a cover body with an open bottom; a bidirectional lead screw is provided on the movable seat along the Y-axis direction, and counter-rotating threads are provided at both ends of the bidirectional lead screw. Stop blocks are symmetrically installed on the two sections of counter-rotating threads. The bidirectional lead screw is rotated so that the two stop blocks abut against the inner side of the sheet metal part to center the sheet metal part.

9. A rolling hemming method for sheet metal window opening, characterized in that: The rolling hemming method is implemented by using any one of claims 1 to 6, and the rolling hemming method comprises the following steps: A window is cut on the sheet metal, and the top corner of the window is a rounded structure without cutting seams; Fixing the sheet metal part on the positioning mechanism so that the window opening of the sheet metal part is located within the operating range of the multi-axis robot; The multi-axis robot presses the folding wheel onto the edge of the window at an angle of 30°, and the pressing wheel opens relative to the folding wheel and extends into the window; The clamping driving member rotates the pressing wheel so that the pressing wheel is pressed under the edge and cooperates with the folding wheel to bend the edge upward, and the end surface of the folding wheel and the wheel wall of the pressing wheel are both in close contact with the edge; The multi-axis robot drives the rolling and folding mechanism to move along the path of the window opening to complete a folding cycle; during the folding process, the wheel rim of the end surface rotates to press the sheet metal part to form a folding line of the edge, and the pressing wheel automatically rotates in accordance with the edge; The multi-axis robot adjusts the folding wheel to press on the edge of the window at an angle of 60° and 90° respectively, completes two folding cycles on the edge, and folds the edge to 90°; The clamping drive opens and resets the pressing wheel, and the multi-axis robot moves the folding mechanism away from above the sheet metal part and takes away the sheet metal part.

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