Panel molding device

Abstract

To provide a panel molding device which enables improvement of surface quality of a molding item and allows a user to grasp a position of a processing point during molding of a hemming roller when an outer panel and an inner panel are integrally molded by the hemming roller.SOLUTION: A panel molding device 101 includes: a lower die 10; a hemming roller 20; a roller head 30 which is attached to a robot arm 81; a detected member 40 which is attached to the roller head 30; a detector 50 which detects a measurement point Q provided at the detected member 40 so as to indicate a position of a processing point P of the hemming roller 20 indirectly; and a control device 60 which controls the robot arm 81 based on a detection result of the measurement point Q by the detector 50 so as to press the processing point P from a tip 3a side of a flange part 3 to bend the flange part 3 to an inner panel 4 side in a state that the hemming roller 20 is lifted from the lower die 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a panel forming apparatus. [Background technology]

[0002] Patent Document 1 below discloses a conventional hemming method for folding back a flange portion of an outer panel of an automobile vehicle door to integrate it with an inner panel. This hemming method generally involves setting the outer panel, with the inner panel overlapping it, in a lower mold, and applying pressure to the flange portion of the outer panel while bending it toward the inner panel using a hemming roller attached to the tip of a robot arm, thereby folding and joining the inner panel and outer panel. This hemming method sequentially involves a pre-bending step in which the flange portion of the outer panel is bent from an upright position toward the inner panel to a first position at approximately 45 degrees, and a final bending step in which, after the pre-bending step, the flange portion is bent from the first position to a second position along the inner panel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-188577 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described hemming method, the flange portion of the outer panel is typically bent from the outer peripheral edge (the base of the flange portion) during the pre-bending process. Bending the flange portion in this manner significantly pushes up the outer peripheral edge due to the large stress generated during plastic deformation. This raises concerns about the occurrence of surface quality defects, known as "surface droop," in the flange portion. Therefore, adopting a method of bending the flange portion of the outer panel from the tip end using a hemming roller can reduce stress during plastic deformation, thereby preventing quality defects. However, because the hemming roller's processing point is a point on a circular arc surface, it is difficult to determine the position of the processing point when the hemming roller's posture or position changes during processing. In particular, adopting a method in which the hemming roller is pressed against the flange portion while floating above the lower die makes it susceptible to the influence of factors such as the deflection of the robot arm, exacerbating the above-described problem.

[0005] The present invention has been made in consideration of such problems, and aims to provide a panel forming device that can improve the surface quality of the formed body when an outer panel and an inner panel are integrally formed using a hemming roller, and that can grasp the position of the processing point of the hemming roller during forming. [Means for solving the problem]

[0006] One aspect of the present invention is A panel forming device that integrally forms an outer panel and an inner panel, a lower mold for setting the inner panel on the outer panel; a hemming roller for bending the flange portion of the outer panel; a roller head attached to a robot arm and rotatably holding the hemming roller; a detection member attached to the roller head; a detector for detecting a measurement point provided on the detection member so as to indirectly indicate the position of the processing point of the hemming roller; a control device that controls the robot arm based on the detection result of the measurement point by the detector so that the processing point is pressed against the front end side of the flange portion while the hemming roller is lifted from the lower die, thereby bending the flange portion toward the inner panel; and a panel forming apparatus comprising: is located. [Effects of the Invention]

[0007] In the panel forming apparatus of the above aspect, the hemming roller that bends the flange portion of the outer panel is rotatably held by a roller head attached to a robot arm. A detector is used to indirectly determine the position of the processing point of the hemming roller by detecting a measurement point on a detection target attached to the roller head. A control device controls the robot arm based on the detection result of the measurement point on the detection target. This control causes the hemming roller to bend the flange portion toward the inner panel by pressing the processing point against the leading edge of the flange portion while floating above the lower die.

[0008] This panel forming device raises the hemming roller above the lower die and presses its processing point against the leading edge of the flange, thereby reducing stress during plastic deformation compared to bending the flange from the outer periphery. This reduces the occurrence of surface quality defects known as surface sagging in the flange. Furthermore, this panel forming device does not directly detect the processing point of the hemming roller, but instead detects a measurement point that indirectly indicates the position of the processing point. This makes it possible to indirectly determine where the processing point is passing, even when bending the flange with the hemming roller raised above the lower die.

[0009] As described above, according to the above-mentioned aspect, when an outer panel and an inner panel are integrally formed using a hemming roller, it is possible to provide a panel forming device that can improve the surface quality of the formed body and can grasp the position of the processing point during forming of the hemming roller. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram showing the overall structure of a panel forming apparatus according to a first embodiment. [Figure 2] FIG. 2 is a perspective view of a molded body in which an outer panel and an inner panel are integrally formed. [Figure 3] 2A and 2B are side views of the roller head and a teaching jig attached to a detection target member in place of the roller head in FIG. 1. [Figure 4] FIG. 2 is a flowchart of the panel molding method of the first embodiment. [Figure 5] FIG. 5 is a side view showing the first step of FIG. 4. [Figure 6] FIG. 5 is a side view showing the second step of FIG. 4. [Figure 7] FIG. 5 is a perspective view showing a third step in FIG. 4. [Figure 8] FIG. 5 is a perspective view showing a state during bending in a fourth step in FIG. 4; [Figure 9] FIG. 9 is a side view of FIG. 8 viewed from the panel width direction. [Figure 10] 5 is a side view showing the state after the bending process in the fourth step of FIG. 4 is completed. DETAILED DESCRIPTION OF THE INVENTION

[0011] Preferred embodiments of the above aspects are described below.

[0012] The panel forming apparatus of the above-mentioned aspect is provided with a teaching jig that can be attached to the detected member interchangeably with the roller head, and it is preferable that the teaching jig is provided with a teaching point that, when attached to the detected member, has the same relative positional relationship with the measurement point as the processing point.

[0013] With this panel forming device, a teaching jig is attached to the detected member instead of a roller head, and the detector detects the measurement points when the posture of the detected member is changed in various ways, thereby obtaining teaching data in which the processing points of the hemming roller are pre-taught by the teaching points of the teaching jig.

[0014] In the panel forming apparatus of the above-mentioned aspect, it is preferable that the control device has a data acquisition unit that acquires trajectory data of the processing point based on the detection results of the measurement point, and a comparison unit that compares the trajectory data acquired by the data acquisition unit with teaching data indicating the relative positional relationship between the measurement point and the teaching point, and outputs the deviation between the processing point and the teaching point as a comparison result.

[0015] This panel forming device makes it possible to quantify the deviation between the hemming roller's processing point and the teaching point of the teaching jig and output the result as a comparison, allowing the operator to easily grasp the amount of deviation of the actual processing point from the teaching point.

[0016] In the panel forming apparatus of the above aspect, it is preferable that a plurality of types of roller heads each having a different number of hemming rollers are prepared, and a plurality of types of teaching jigs are prepared according to the types of roller heads.

[0017] This panel forming device allows the user to select the type of teaching jig to replace the roller head depending on the type of roller head with a different number of hemming rollers, making the panel forming device more versatile as it can be used for multiple types of bending processes.

[0018] In the panel forming apparatus of the above aspect, it is preferable that the detected member is a probe having an irradiation surface for irradiating laser light, and the detector is a laser camera that detects the laser light irradiated by the probe.

[0019] According to this panel forming apparatus, the detection accuracy of the measurement point can be improved by employing a detection structure in which a laser camera serves as a detector and detects laser light irradiated by a probe serving as a member to be detected.

[0020] In the panel forming apparatus of the above aspect, it is preferable that the irradiation surface of the probe is provided with a plurality of irradiation units that irradiate the laser light from positions spaced apart from each other.

[0021] According to this panel forming device, by providing a plurality of irradiation units on the irradiation surface of the probe, it is possible to further improve the detection accuracy of the measurement point compared to when there is only one irradiation unit.

[0022] Hereinafter, specific embodiments of the panel forming apparatus of the above aspect will be described with reference to the drawings.

[0023] In this specification and drawings, unless otherwise specified, the panel width direction of the outer panel and inner panel is the X-axis direction, the panel thickness direction is the Y-axis direction, and the panel depth direction is the Z-axis direction.

[0024] (Embodiment 1) The panel forming apparatus 101 of the first embodiment shown in Fig. 1 is an apparatus for integrally forming an outer panel 1 and an inner panel 4. By using this panel forming apparatus 101, a formed body W as shown in Fig. 2 can be obtained.

[0025] Here, the formed body W is an integrated outer panel 1 and inner panel 4. The formed body W is formed by folding back the flange portion 3 in an expanded state while overlapping the end portion 5 of the inner panel 4 on the main body portion 2 of the outer panel 1. Both the outer panel 1 and the inner panel 4 are made of steel plate. The formed body W is used, for example, as various parts that make up the body of an automobile. Examples of the formed body W include a vehicle door made up of the outer panel 1 and the inner panel 4, and a vehicle hood made up of the outer panel 1 and the inner panel 4.

[0026] 1. Structure of panel forming device 101 As shown in FIG. 1, the panel forming apparatus 101 includes a lower mold 10, a hemming roller 20, a roller head 30, a detection target member 40, a detector 50, and a control device 60.

[0027] The lower die 10 is a die for overlapping and setting the inner panel 4 on the outer panel 1. The hemming roller 20 is a columnar or cylindrical member, and is used to bend the flange portion 3 of the outer panel 1 toward the inner panel 4 at a processing point P of the hemming roller 20. This bending process is also called "hemming."

[0028] The roller head 30 rotatably holds the hemming roller 20. A spring member (not shown) for applying spring pressure to the hemming roller 20 so that it can expand and contract may be built into the roller head 30 as needed. The roller head 30 is attached to the tip of a robot arm 81 of a teaching / playback type articulated robot 80. The roller head 30 is also attached to the detection member 40 via brackets 32 and 42. The brackets 32 and 42 are fixed so that they can be separated from each other.

[0029] The detection member 40 is provided with a measurement point Q to indirectly indicate the position of the processing point P of the hemming roller 20. In this embodiment, the detection member 40 is a probe having an irradiation surface 40a that irradiates laser light L. The irradiation surface 40a of this probe is provided with multiple (three in FIG. 1 ) irradiation units 41 that irradiate the laser light L from positions spaced apart from each other. The relative positional relationship of the measurement point Q with respect to the irradiation units 41 is stored in advance in the detector 50 or the memory unit 63 of the control device 60. The irradiation surface 40a may be a flat surface, or may be a stepped or curved surface. The number of irradiation units 41 is not particularly limited, and any appropriate number may be adopted as needed.

[0030] The detection member 40 can be designed to irradiate a wide area with the laser light L by providing multiple irradiation units 41. Alternatively, the detection member 40 can be designed to have multiple irradiation units 41 so that if any irradiation unit 41 becomes unusable, the remaining irradiation units 41 can be used as backups.

[0031] The detector 50 is a coordinate measuring machine that has the function of detecting a measurement point Q of the detected member 40. The detector 50 is connected to a processing terminal 52 so as to be able to communicate signals. In this embodiment, the detector 50 is a laser camera that detects the laser light L irradiated by the probe. The laser camera has a detection unit 51 that detects the laser light L irradiated from the irradiation unit 41. When the detection unit 51 detects the laser light L, the measurement point Q is detected from the relative positional relationship of the measurement point Q with respect to the irradiation unit 41.

[0032] The processing terminal 52 is a computer device having a known CPU (Central Processing Unit), ROM, RAM, an interface for inputting and outputting data to and from external devices, etc. For example, a desktop or notebook personal computer (PC), a tablet terminal, a mobile terminal, etc. can be used as the computer device.

[0033] The control device 60 has a function of controlling the robot arm 81 so that, based on the detection result of the measurement point Q by the detector 50, the hemming roller 20 is raised above the lower mold 10 and its processing point P is pressed against the front end 3a of the flange portion 3 to bend the flange portion 3 toward the inner panel 4. The control device 60 is connected to the detection target member 40, the detector 50, the processing terminal 52, and the articulated robot 80 so as to be able to communicate signals therewith.

[0034] The control device 60 includes a data acquisition unit 61, a comparison unit 62, a memory unit 63, a probe control unit 64, and a robot control unit 65. The data acquisition unit 61 acquires trajectory data Db of the processing point P of the hemming roller 20 from the detector 50 based on the detection result of the measurement point Q by the detector 50. The comparison unit 62 compares the trajectory data Db acquired by the data acquisition unit 61 with the teaching data Da and outputs the deviation between the processing point P and the teaching point R as a comparison result Dc to the processing terminal 52. The teaching data Da and the trajectory data Db are temporarily stored in the memory unit 63 and are read out as needed and used by the comparison unit 62. The memory unit 63 readably stores multiple pieces of information including the teaching data Da and the trajectory data Db, as well as control programs. The probe control unit 64 controls the probe, which is the detection target member 40. This allows, for example, adjustment of the irradiation conditions of the laser light L. The robot control unit 65 controls the position and posture of the tip of the robot arm 81 of the articulated robot 80. The robot control unit 65 appropriately adjusts the position and posture of the hemming roller 20 held by the roller head 30.

[0035] As shown in FIG. 3, the hemming roller 20 is held rotatably around the central axis A by a holder 31 provided on the roller head 30. The processing point P of the hemming roller 20 is appropriately set at a predetermined position on the outer circumferential surface of the hemming roller 20 in the direction of the central axis A. The roller head 30 is detachably attached to the detection member 40. That is, the roller head 30 has a bracket 32 ​​that is fixed to a bracket 42 of the detection member 40 via a fastening member 33. The roller head 30 can be attached to the detection member 40 by fixing it with the fastening member 33. Conversely, the roller head 30 can be detached from the detection member 40 by releasing the fixation with the fastening member 33. A measurement point Q is formed by the protrusion 43 provided on the detection member 40.

[0036] In this embodiment, a teaching jig 70 is used that can be attached to the detection member 40 so as to be interchangeable with the roller head 30. When the roller head 30 is detached from the detection member 40, the teaching jig 70 can be fixed to the bracket 42 of the detection member 40 via the fastening member 33. In other words, the bracket 42 of the detection member 40 is used for interchangeably replacing the roller head 30 and the teaching jig 70.

[0037] The teaching jig 70 is provided with a teaching point R that has the same relative positional relationship with respect to the measurement point Q as the processing point P of the hemming roller 20 when attached to the detection member 40. In other words, the teaching point R is provided on the teaching jig 70 so that the relative positional relationship between the measurement point Q and the processing point P when the roller head 30 is attached to the detection member 40 is the same as the relative positional relationship between the measurement point Q and the teaching point R when the teaching jig 70 is attached to the detection member 40. The teaching point R is formed by the tip of a support member 71 provided on the teaching jig 70.

[0038] In this embodiment, multiple types of roller heads 30 are prepared, each with a different number of hemming rollers 20. Multiple types of teaching jigs 70 are prepared according to the type of roller head 30. The roller head 30 in FIG. 3 has one hemming roller 20 and is called a "standard roller." Other types of roller heads than this one are prepared, such as a three-sided roller with three hemming rollers 20 and a four-sided roller with four hemming rollers 20. For example, in the case of bending using a standard roller, teaching for bending is performed in advance using a dedicated teaching jig 70 that corresponds to this standard roller.

[0039] 2.Panel forming method The panel molding method of the first embodiment is a method for forming the molded body W shown in Fig. 2. In this panel molding method, the first step S101 to the sixth step S106 shown in Fig. 4 are performed in sequence. If necessary, other steps may be added, or each step may be divided into multiple steps.

[0040] 2-1. Teaching process The first step S101 in FIG. 4 is a teaching process for teaching the operation of the hemming roller 20 when bending the flange portion 3 of the outer panel 1. In this first step S101, a generation operation is performed to generate teaching data Da using a teaching jig 70. In this generation operation, as shown in FIG. 5, the teaching jig 70 is operated while pressing the support member 71 of the teaching jig 70 against the contact surface 72a of the calibration jig 72 placed on the installation surface, to move the detection target member 40 three-dimensionally around the teaching point R of the support member 71. The operator operates the teaching jig 70 by holding the teaching jig 70 with his or her fingers. In this embodiment, in order to widen the range in which the teaching jig 70 can be moved and increase the variation in the posture of the detection target member 40, it is preferable to employ a structure in which the support member 71 itself is a spherical ball or a structure in which the tip of the support member 71 is an arc-shaped convex surface.

[0041] While the teaching jig 70 is being operated, the laser light L emitted from the irradiation unit 41 is detected by the detection unit 51 (see FIG. 1) of the detector 50. At this time, since the relative positional relationship of the measurement point Q with respect to the irradiation unit 41 is known, the measurement point Q is detected for each of the multiple postures of the detection target member 40. For example, the measurement point Q is detected when the detection target member 40 is in a first posture S1, the measurement point Q is detected when the detection target member 40 is in a second posture S2, and the measurement point Q is detected when the detection target member 40 is in a third posture S3. Data indicating the relative positional relationship between the measurement point Q and the teaching point R in each posture of the detection target member 40 at this time becomes teaching data Da. This teaching data Da is stored in the memory unit 63 (see FIG. 1). Note that, for convenience of explanation, only three postures S1 to S3 are shown in FIG. 5, but the number of postures is not limited to this. The more postures there are, the higher the teaching accuracy becomes.

[0042] 2-2. Flanging process The second step S102 in FIG. 4 is a flange forming process for forming the flange portion 3 of the outer panel 1 so that it stands upright relative to the main body portion 2. In this second step S102, as shown in FIG. 6, a lower blade 11, a pad 12, and a bending blade 13 are used. With the bending blade 13 pressed against the surface of the flange portion 3 of the outer panel 1, the bending blade 13 is moved downward so as to press and bend the flange portion 3 downward. This brings the flange portion 3 of the outer panel 1 into an upright position at an angle of approximately 45° relative to the main body portion 2. In this case, the second step S102 is a form of plastic processing (press processing) that utilizes plastic deformation of the workpiece material.

[0043] 2-3. Panel stacking process The third step S103 in Fig. 4 is a panel overlapping step that occurs after the second step S102, in which the inner panel 4 is overlapped on the outer panel 1. In this third step S103, as shown in Fig. 7, first, the outer panel 1 that has been flanged in the second step S102 is set in the lower mold 10 in an inverted state so that the flange portion 3 extends upward. Then, the folded end portion 5 of the inner panel 4 is set so that it overlaps the upper surface of the main body portion 2 of the outer panel 1. At this time, the folded end portion 5 of the inner panel 4 is positioned so that its edge 5a is close to the outer peripheral edge portion 3b that corresponds to the intended bending region of the flange portion 3 of the outer panel 1 (the base portion of the flange portion 3).

[0044] 2-4. Bending process The fourth step S104 in FIG. 4 is a step that follows the third step S103 and involves bending the flange portion 3 of the outer panel 1 toward the inner panel 4 with the hemming roller 20 to integrate the outer panel 1 with the inner panel 4. The bending process in the fourth step S104 is one form of bending using the hemming roller 20 and is also referred to as "hemming." In the fourth step S104, the robot control unit 65 (see FIG. 1) controls the robot arm 81 of the articulated robot 80 to control the position and posture of the hemming roller 20 so as to integrate the outer panel 1 and the inner panel 4. At this time, the robot control unit 65 executes control based on the teaching data Da generated in the first step S101. In other words, the robot arm 81 is controlled so that the teaching point R passes through a desired position.

[0045] In fourth step S104, as shown in FIG. 8, which shows the state during bending, the robot arm 81 is controlled to move the hemming roller 20 so that the hemming roller 20 slides in the first direction C1 while rolling to crush the flange portion 3 of the outer panel 1. "Rolling" here refers to the action of the hemming roller 20 rotating about the central axis A by rolling on the surface of the flange portion 3. At this time, the hemming roller 20 is moved in a second direction C2 (see FIG. 9) while reciprocating in the first direction C1. The second direction C2 is the rotation direction around the outer peripheral edge portion 3b of the outer panel 1 toward the inner panel 4. Similar to second step S102, fourth step S104 is a form of plastic processing (press processing) that utilizes plastic deformation of the workpiece.

[0046] In the fourth step S104, the angle θ, height h, and offset d, which are relative position parameters of the hemming roller 20 with respect to the lower mold 10, are controlled. Here, the angle θ is the angle between the mold reference line B along the upper surface 10a of the lower mold 10 and the central axis A of the hemming roller 20. The height h is the dimension in the Y-axis direction from the mold reference line B to the processing point P of the hemming roller 20. The offset d is the dimension in the Z-axis direction from the front end surface 10b of the lower mold 10 to the processing point P of the hemming roller 20.

[0047] According to the fourth step S104, as shown in Fig. 9 (a side view of Fig. 8 seen from the X-axis direction, which is the panel width direction), when the flange portion 3 of the outer panel 1 is viewed from the X-axis direction, the flange portion 3 buckles in the second direction C2 around the outer peripheral edge portion 3b from the standing position indicated by the two-dot chain line to the preliminary bending position indicated by the solid line, and then buckles in the second direction C2 to the main bending position as shown in Fig. 10, which shows the state after the bending process is completed. As a result, the end portion 5 of the inner panel 4 is sandwiched between the main body portion 2 and the flange portion 3 of the outer panel 1, and the outer panel 1 and the inner panel 4 are integrated.

[0048] The fifth step S105 in FIG. 4 is a step of acquiring trajectory data Db along which the processing point P of the hemming roller 20 actually passes by detecting the laser light L irradiated by the irradiation unit 41 of the detection member 40 during bending using the detector 50 (a step of monitoring the processing point P of the hemming roller 20). The fifth step S105 is executed in parallel with the fourth step S104. According to this fifth step S105, the data acquisition unit 61 (see FIG. 1) continuously acquires the trajectory data Db while bending the flange portion 3 of the outer panel 1 with the hemming roller 20. The pitch of the processing points P in the X-axis direction in this trajectory data Db is set arbitrarily to a required value. The trajectory data Db acquired by the data acquisition unit 61 is then stored in the memory unit 63.

[0049] 4 is a step of outputting a comparison result Dc of the teaching data Da with the trajectory data Db acquired in the fifth step S105. According to this sixth step S106, the comparing unit 62 (see FIG. 1) compares the teaching data Da with the trajectory data Db, and outputs a comparison result Dc calculated based on the comparison to the processing terminal 52. The comparison result Dc is output as data that quantifies the deviation between the machining point P and the teaching point R.

[0050] According to the sixth step S106, the worker who checks the comparison result Dc on the processing terminal 52 can quantitatively determine the deviation state between the processing point P and the teaching point R, and can utilize this information in simulations and analyses of product design and manufacturing, and preliminary examination of process design, etc. For example, it becomes possible to reproduce and verify the transition of the cross-sectional shape of the flange portion 3 of the outer panel 1 when the fourth step S104 is performed.

[0051] Furthermore, the robot control unit 65 may control the robot arm 81 so that the processing point P approaches the teaching point R based on the comparison result Dc output in the sixth step S106, as necessary.

[0052] 3. Effects According to the above-described first embodiment, the following effects can be obtained.

[0053] In the panel forming apparatus 101 of the first embodiment, the hemming roller 20 that bends the flange portion 3 of the outer panel 1 is rotatably held by a roller head 30 attached to a robot arm 81. The detector 50 is used to indirectly grasp the position of the processing point P of the hemming roller 20 by detecting a measurement point Q of a detection target member 40 attached to the roller head 30. The control device 60 controls the robot arm 81 based on the detection result of the measurement point Q of the detection target member 40. With this control, the hemming roller 20 is raised above the lower mold 10, and the processing point P is pressed against the flange portion 3 from the tip side, thereby bending the flange portion 3 towards the inner panel 4.

[0054] According to the panel forming apparatus 101, the hemming roller 20 is raised above the lower die 10 and its processing point P is pressed against the tip 3a of the flange portion 3. This reduces stress during plastic deformation compared to bending the flange portion 3 from the outer peripheral edge 3b. This reduces the occurrence of surface quality defects known as "surface sagging" in the flange portion 3. "Surface sagging" here refers to a condition in which the outer peripheral edge 3b of the flange is significantly pushed up due to high stress during plastic deformation (see Figures 8 and 9). Furthermore, according to the panel forming apparatus 101, rather than directly detecting the processing point P of the hemming roller 20, a measurement point Q is detected that indirectly indicates the position of the processing point P. This makes it possible to indirectly determine where the processing point P is passing, even when bending the flange portion 3 with the hemming roller 20 raised above the lower die 10.

[0055] As described above, according to embodiment 1, when the outer panel 1 and the inner panel 4 are integrally formed using the hemming roller 20, it is possible to provide a panel forming device 101 that can improve the surface quality of the formed body W and can grasp the position of the processing point P during forming of the hemming roller 20.

[0056] According to the panel forming device 101, when a teaching jig 70 is attached to the detection member 40 instead of the roller head 30, the measurement point Q is detected by a detector when the posture of the detection member 40 is changed in various ways, and teaching data Da can be obtained in which the processing point P of the hemming roller 20 is previously taught by the teaching point R of the teaching jig 70.

[0057] The panel forming device 101 makes it possible to quantify the deviation between the processing point P of the hemming roller 20 and the teaching point R of the teaching jig 70 and output it as a comparison result Dc. This allows the operator to easily grasp the amount of deviation of the actual processing point P from the teaching point R.

[0058] According to the panel forming apparatus 101, it is possible to select the type of teaching jig 70 to be replaced with the roller head 30 depending on the type of roller head 30 having a different number of hemming rollers 20. This makes it possible to use the panel forming apparatus 101 for multiple types of bending processes, thereby increasing versatility.

[0059] According to the panel forming apparatus 101, by adopting a structure in which the laser light L irradiated by the probe as the detected member 40 is detected by a laser camera as the detector 50, it is possible to improve the detection accuracy of the measurement point Q. In particular, by providing multiple irradiation units 41 on the irradiation surface 40a of the probe, it is possible to further improve the detection accuracy of the measurement point Q compared to when there is only one irradiation unit 41.

[0060] The present invention is not limited to the exemplary embodiments described above, and various applications and modifications are possible without departing from the scope of the present invention. For example, the following embodiments can be implemented by applying the above embodiments.

[0061] In the above embodiment, an example was given of generating teaching data Da using the teaching jig 70, but instead, teaching data Da may be generated by means other than the teaching jig 70.

[0062] In the above embodiment, an example is given of the case where the detector 50 detects the laser light L irradiated by the detectable member 40 to detect the measurement point Q, but instead, the detector 50 may detect the measurement point Q from the captured image when it captures an image of the detectable member 40. [Explanation of symbols]

[0063] REFERENCE SIGNS LIST 1...outer panel, 3...flange portion, 3a...tip, 4...inner panel, 10...lower mold, 20...hemming roller, 30...roller head, 40...detected member, 40a...irradiation surface, 41...irradiation unit, 50...detector, 60...control device, 61...data acquisition unit, 62...comparison unit, 70...teaching jig, 81...robot arm, 101...panel forming device, Da...teaching data, Db...trajectory data, Dc...comparison result, L...laser light, P...processing point, Q...measurement point, R...teaching point, W...molded body

Claims

1. A panel forming device that integrally forms an outer panel and an inner panel, a lower mold for setting the inner panel on the outer panel; a hemming roller for bending the flange portion of the outer panel; a roller head attached to a robot arm and rotatably holding the hemming roller; a detection member attached to the roller head; a detector for detecting a measurement point provided on the detection member so as to indirectly indicate the position of the processing point of the hemming roller; a control device that controls the robot arm based on the detection result of the measurement point by the detector so that the processing point is pressed against the front end side of the flange portion while the hemming roller is lifted from the lower die, thereby bending the flange portion toward the inner panel; and A panel forming apparatus comprising:

2. a teaching jig that is attached to the detection member so as to be replaceable with the roller head; 2. The panel forming apparatus according to claim 1, wherein the teaching jig is provided with teaching points that have the same relative positional relationship with the measurement points as the processing points when attached to the detection member.

3. The panel forming apparatus of claim 2, wherein the control device has a data acquisition unit that acquires trajectory data of the processing point based on the detection results of the measurement point, and a comparison unit that compares the trajectory data acquired by the data acquisition unit with teaching data that indicates the relative positional relationship between the measurement point and the teaching point, and outputs a deviation between the processing point and the teaching point as a comparison result.

4. 4. The panel forming apparatus according to claim 2, wherein a plurality of types of roller heads having different numbers of hemming rollers are prepared, and a plurality of types of teaching jigs are prepared according to the types of roller heads.

5. the detection member is a probe having an irradiation surface for irradiating laser light, 4. The panel forming apparatus according to claim 1, wherein the detector is a laser camera that detects the laser light emitted by the probe.

6. The panel forming apparatus according to claim 5 , wherein the irradiation surface of the probe is provided with a plurality of irradiation units that irradiate the laser light from positions spaced apart from each other.

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