CN114406063A - Robot two-station edge rolling system and method - Google Patents
Robot two-station edge rolling system and method Download PDFInfo
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- CN114406063A CN114406063A CN202210096288.1A CN202210096288A CN114406063A CN 114406063 A CN114406063 A CN 114406063A CN 202210096288 A CN202210096288 A CN 202210096288A CN 114406063 A CN114406063 A CN 114406063A
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- robot
- tetrahedral
- rotary table
- gripper
- trimming
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
- B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/14—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by turning devices, e.g. turn-tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D53/00—Making other particular articles
- B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The invention provides a robot two-station edge rolling system and a robot two-station edge rolling method, wherein the robot two-station edge rolling system comprises the following steps: the device comprises a guide rail, a switching trolley, a tetrahedral rotary table device and a transition table, wherein the tetrahedral rotary table device is provided with a trimming die device; the workbench frame is covered above the tetrahedral rotary table device and fixed with the ground, and a first robot and a second robot are fixedly arranged above the workbench frame; a third robot, a fourth robot and a fifth robot are further arranged between the flexible feeding platform and the tetrahedral rotary table device; a sixth robot and a seventh robot are further arranged between the flexible blanking table and the tetrahedral rotary table device; the placing frame is arranged between the sixth robot and the flexible blanking table, and a rolling head is placed in the placing frame; according to the two-station trimming system and the two-station trimming method for the robot, the robot is arranged in two layers, the trimming process is divided into two stations for trimming simultaneously, the vehicle types can be automatically switched through the rotating table, and the problems that the conventional trimming technology is low in beat, the vehicle types need to be switched by stopping the line, the trimming robot is too much in waiting and wasting, and the like are effectively solved.
Description
Technical Field
The invention belongs to the technical field of automobile manufacturing equipment, and particularly relates to a robot two-station edge rolling system and method.
Background
Present robot binding system all adopts the form of two prefaces of simplex position binding, accomplishes door closure's pre-compaction and main pressure promptly on a station, adopts 3 robots, and wherein 1 robot compromises and goes up unloading transport and binding, and production beat 40JPH can realize that multi-vehicle type switches flexible production, when switching the motorcycle type, has following problem: the film changing trolley is used for switching out a current vehicle type, then another vehicle type is switched in, the production rhythm is low, the output of a main line 50JPH cannot be met, the vehicle type switching needs stopping, the vehicle type switching is complex, a tire film and a gripper need to be switched when the vehicle type is switched and produced at every time, only 1 conveying robot is needed, the loading and unloading conveying and the edge rolling are both considered, other robots wait all the time when loading and unloading are carried out, and the utilization rate of the robots is not high enough.
Disclosure of Invention
The invention aims to provide a two-station binding system and a two-station binding method for a robot, and aims to solve the problems that the two stations of pre-binding and final binding are simultaneously and parallelly lifted in rhythm and the line is required to be stopped and shut down when vehicle types are switched simultaneously.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the invention provides a robot two-station edge rolling system, which comprises: the device comprises two groups of guide rails which are arranged in parallel, wherein each group of guide rails is provided with a switching trolley, a tetrahedral turntable device is also arranged between the two groups of guide rails, a transition table is also arranged between the tetrahedral turntable device and the switching trolley, and the tetrahedral turntable device is provided with a trimming die device;
the workbench frame is covered above the tetrahedral rotary table device and fixed with the ground, and a first robot and a second robot are fixedly arranged above the workbench frame;
the flexible feeding table is arranged on the right side of the tetrahedral rotary table device, and a third robot, a fourth robot and a fifth robot are further arranged between the flexible feeding table and the tetrahedral rotary table device;
the flexible blanking table is arranged on the left side of the tetrahedral rotary table device, and a sixth robot and a seventh robot are further arranged between the flexible blanking table and the tetrahedral rotary table device;
the third robot, the fourth robot, the sixth robot and the seventh robot are respectively fixedly arranged at the outer sides of four corners of the workbench frame and distributed in a center-to-center manner, and the fifth robot is arranged between the fourth robot and the flexible feeding table;
the movable ends of the first robot, the second robot, the third robot, the fourth robot and the seventh robot are all provided with rolling heads; the movable end of the fifth robot is provided with a first gripper, and the movable end of the sixth robot is provided with a second gripper;
the placing frame is arranged between the sixth robot and the flexible blanking table, and the rolling head is placed in the placing frame.
As a further improvement of the invention, the tetrahedral rotary table device is a tetrahedral structure with central symmetry, and each surface of the tetrahedral rotary table device is provided with a rolling die device.
The invention also provides a robot two-station edge rolling method, which comprises the following steps:
step S1: placing the current part to be rolled on a flexible feeding table;
step S2: the fifth robot grabs the current part to be rolled on the flexible feeding table through the first gripper, and after the part is placed on the edge rolling die device matched with the fifth robot, the fifth robot is separated from the first gripper and returns to the original point;
step S3: the first robot, the third robot and the fourth robot simultaneously perform pre-edging operation, and after the first-sequence pre-edging operation is completed, the fifth robot is connected with the first gripper again through the gun changing disc and returns to the original point;
step S4: clockwise rotating the tetrahedral rotary table device for 180 degrees;
step S5: placing the next part on a flexible feeding table, and repeating the steps S2-S3 to finish the pre-edge rolling work of the next part;
step S6: when the next part is subjected to pre-edging work, the sixth robot places the second gripper on the edging die device and separates from the second gripper, and then the sixth robot grips the roller head at the placing frame;
step S7: the sixth robot, the seventh robot and the second robot simultaneously perform final edge rolling operation on the current part to finish the second-order final edge rolling of the current part, and the rolling head is placed on the placing rack after the sixth robot finishes the edge rolling;
step S8: the sixth robot reaches the second gripper and is connected with the second gripper through a gun changing disc, the current part which is subjected to edge rolling is picked up and placed on the flexible blanking table, and the sixth robot returns to the original point;
step S9: if the vehicle type does not need to be switched, repeating the steps S4 to S8 to finish the edge rolling; and if the vehicle type needs to be switched, the tetrahedral rotary table device rotates by 90 degrees clockwise, and then the step 1 is carried out.
As a further improvement of the present invention, the step of requiring switching of vehicle types described in step S9 further includes: the trimming die device is unlocked from the tetrahedral turntable device, the trimming die devices of the same vehicle type are pushed out of the tetrahedral turntable device from two opposite sides respectively, and are switched on the switching trolley through the transition table until being pushed, the trimming die devices of the new vehicle type are placed on the switching trolley, and are locked through the transition table until being pushed to the tetrahedral turntable device.
The invention has the advantages that:
according to the two-station trimming system and the two-station trimming method for the robot, the robot is arranged in two layers, the trimming process is divided into two stations for trimming simultaneously, the vehicle types can be automatically switched through the rotating table, and the problems that the conventional trimming technology is low in beat, the vehicle types need to be switched by stopping the line, the trimming robot is too much in waiting and wasting, and the like are effectively solved.
Drawings
FIG. 1 is a schematic structural diagram of a two-station binding system of a robot according to the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic structural diagram of a tetrahedral rotary table apparatus according to the present invention;
FIG. 4 is a schematic diagram of a tilted rear side structure of the robot two-station binding system during the first pre-binding process according to the present invention;
FIG. 5 is a schematic structural view of the front side and the rear side of the robot two-station binding system during the second-step final binding according to the present invention;
fig. 6 is a top view of the robot two-station binding system according to the present invention when switching vehicle types.
In the figure: 1-guide rail, 2-switching trolley, 3-tetrahedral turntable device, 4-workbench frame, 5-flexible feeding table, 6-flexible blanking table, 7-third robot, 8-fifth robot, 9-first gripper, 10-fourth robot, 11-seventh robot, 12-sixth robot, 13-second gripper, 14-second robot, 15-first robot, 16-transition table, 17-first B vehicle type hemming die device, 18-second A vehicle type hemming die device, 19-second B vehicle type hemming die device, 20-first A vehicle type hemming die device, 21-placing frame.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a robot two-station binding system and a method, as shown in fig. 1 and 2, the robot two-station binding system comprises: the device comprises two groups of guide rails 1 which are arranged in parallel, wherein each group of guide rails 1 is provided with a switching trolley 2, a tetrahedral turntable device 3 is also arranged between the two groups of guide rails 1, a transition table 16 is also arranged between the tetrahedral turntable device 3 and the switching trolley 2, and a trimming die device is arranged on the tetrahedral turntable device 3; the switching trolley 2 is used for transporting and switching the trimming die devices of various vehicle types, the transition table 16 is used for intermediate transportation when the trimming die devices are switched, the tetrahedral turntable device 3 can be used for dismounting and switching the trimming die devices of different vehicle types, and the trimming die devices are used for placing parts needing trimming;
the worktable frame 4 is used for carrying out space layering trimming operation, the worktable frame 4 covers the tetrahedral turntable device 3 and is fixed with the ground, a first robot 15 and a second robot 14 are fixedly arranged above the worktable frame 4 and are used for trimming operation, the first robot 15 is used for pre-trimming, and the second robot 14 is used for final trimming; compared with the traditional ground robot, the intervention of the first robot 15 and the second robot 14 realizes the purpose of improving the binding efficiency by utilizing space layering and the beat;
the flexible feeding table 5 is used for placing parts needing to be rolled, the flexible feeding table 5 is arranged on the right side of the tetrahedral rotary table device 3, and a third robot 7, a fourth robot 8 and a fifth robot 9 are further arranged between the flexible feeding table 5 and the tetrahedral rotary table device 3; the fifth robot 9 is mainly used for transporting parts needing to be subjected to edge rolling, and the third robot 7 and the fourth robot 8 are used for pre-edge rolling;
the flexible blanking table 6 is used for placing parts subjected to edge rolling, the flexible blanking table 6 is arranged on the left side of the tetrahedral rotary table device 3, and a sixth robot 12 and a seventh robot 11 are further arranged between the flexible blanking table 5 and the tetrahedral rotary table device 3; the sixth robot 12 is used for final trimming and transporting parts to the flexible blanking table 6, and the seventh robot 11 is used for final trimming;
the third robot 7, the fourth robot 10, the sixth robot 12 and the seventh robot 11 are respectively fixedly arranged at the outer sides of four corners of the workbench frame 4 and distributed in a center-to-center manner, and the fifth robot 8 is arranged between the fourth robot 10 and the flexible feeding table 5;
the movable ends of the first robot 15, the second robot 14, the third robot 7, the fourth robot 10 and the seventh robot 11 are all provided with rolling heads; a first gripper 9 is arranged at the movable end of the fifth robot 8, and a second gripper 13 is arranged at the movable end of the sixth robot 12;
the placing frame 21 is arranged between the sixth robot 12 and the flexible blanking table 6, a rolling head is placed in the placing frame 21, and the placing frame 21 is used for switching the rolling head of the sixth robot 12.
In one embodiment, the tetrahedral turntable device 3 is a tetrahedral structure with central symmetry, as shown in fig. 3, and is provided with a trimming die device on each surface, a second a-type trimming die device 18 and a first a-type trimming die device 20 on the left and right sides, respectively, a second B-type trimming die device 19 and a first B-type trimming die device 17 on the front and back sides, respectively, and the types of the trimming die devices on the two opposite sides of the tetrahedral turntable device 3 are identical.
The invention also provides a robot two-station edge rolling method, which comprises the following steps:
step S1: placing the current part to be rolled on a flexible feeding table;
step S2: the fifth robot 8 grabs the current part to be rolled on the flexible feeding table 5 through the first gripper 9 and places the current part onto a rolling die device adapted to the current part, illustratively, if the current part is a part on an a-vehicle type, the current part is placed onto a first a-vehicle type rolling die device 20; the fifth robot 8 is detached from the first gripper 9 and returns to the origin;
step S3: as shown in fig. 4, the first robot 15, the third robot 7 and the fourth robot 10 perform pre-hemming operation simultaneously, and after the first-order pre-hemming is completed, the fifth robot 8 is connected with the first gripper 9 again by changing the gun plate and returns to the original point;
step S4: the tetrahedral rotary table device 3 rotates clockwise by 180 degrees;
step S5: placing the next part on the flexible feeding table 5, rotating the current part which is pre-rolled to a final rolling station at the moment, and placing the newly-grabbed next part at the pre-rolling station; repeating the steps S2 to S3 to finish the pre-edge rolling work of the next part;
step S6: while the next part is pre-rolled, the sixth robot 12 places the second gripper 13 on the rolling die device and separates from the second gripper 13, and then grips the roller head at the placing frame 21;
step S7: as shown in fig. 5, the sixth robot 12, the seventh robot 11 and the second robot 15 simultaneously perform the final trimming operation on the current part, complete the second-order final trimming of the current part, and place the roller head on the placing rack 21 after the sixth robot 12 finishes trimming;
step S8: the sixth robot 12 arrives at the second gripper 13 and is connected with the second gripper 13 through a gun changing disc, the current part which is finished with the edge rolling is gripped and placed on the flexible blanking table 6, and the sixth robot 12 returns to the original point;
step S9: if the vehicle type does not need to be switched, repeating the steps from S4 to S8, finishing the process after all parts are subjected to edge rolling; if the vehicle type needs to be switched, the tetrahedral rotary table device 3 rotates 90 degrees clockwise, and then the process goes to step 1.
In one embodiment, as shown in fig. 6, the step of requiring switching of vehicle types in step S9 further includes: the trimming die device is unlocked from the tetrahedral rotary table device 3, the trimming die devices of the same vehicle type are pushed out of the tetrahedral rotary table device 3 from two opposite sides respectively, and are switched on the switching trolley 2 through the transition table 16, the trimming die devices adapted to the new vehicle type are placed on the switching trolley 2, and are locked on the tetrahedral rotary table device 3 through the transition table 16.
Reference in the specification to "some embodiments," "one embodiment," or "an embodiment," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases "in some embodiments," "in one embodiment," or "in an embodiment," or the like, in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Additionally, the various elements of the drawings of the present application are merely schematic illustrations and are not drawn to scale.
Having thus described several aspects of at least one embodiment of this invention, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be within the spirit and scope of the invention.
Claims (4)
1. A two-station binding system of a robot is characterized by comprising:
the device comprises two groups of guide rails which are arranged in parallel, wherein each group of guide rails is provided with a switching trolley, a tetrahedral turntable device is also arranged between the two groups of guide rails, a transition table is also arranged between the tetrahedral turntable device and the switching trolley, and the tetrahedral turntable device is provided with a trimming die device;
the workbench frame is covered above the tetrahedral rotary table device and fixed with the ground, and a first robot and a second robot are fixedly arranged above the workbench frame;
the flexible feeding table is arranged on the right side of the tetrahedral rotary table device, and a third robot, a fourth robot and a fifth robot are further arranged between the flexible feeding table and the tetrahedral rotary table device;
the flexible blanking table is arranged on the left side of the tetrahedral rotary table device, and a sixth robot and a seventh robot are further arranged between the flexible blanking table and the tetrahedral rotary table device;
the third robot, the fourth robot, the sixth robot and the seventh robot are respectively fixedly arranged at the outer sides of four corners of the workbench frame and distributed in a center-to-center manner, and the fifth robot is arranged between the fourth robot and the flexible feeding table;
the movable ends of the first robot, the second robot, the third robot, the fourth robot and the seventh robot are all provided with rolling heads; the movable end of the fifth robot is provided with a first gripper, and the movable end of the sixth robot is provided with a second gripper;
the placing frame is arranged between the sixth robot and the flexible blanking table, and the rolling head is placed in the placing frame.
2. The robotic two-station binding system of claim 1, wherein: the tetrahedral rotary table device is of a tetrahedral structure with central symmetry, and each surface of the tetrahedral rotary table device is provided with a rolling die device.
3. A robot two-station edge rolling method is characterized by comprising the following steps:
step S1: placing the current part to be rolled on a flexible feeding table;
step S2: the fifth robot grabs the current part to be rolled on the flexible feeding table through the first gripper, and after the part is placed on the edge rolling die device matched with the fifth robot, the fifth robot is separated from the first gripper and returns to the original point;
step S3: the first robot, the third robot and the fourth robot simultaneously perform pre-edging operation, and after the first-sequence pre-edging operation is completed, the fifth robot is connected with the first gripper again through the gun changing disc and returns to the original point;
step S4: clockwise rotating the tetrahedral rotary table device for 180 degrees;
step S5: placing the next part on a flexible feeding table, and repeating the steps S2-S3 to finish the pre-edge rolling work of the next part;
step S6: when the next part is subjected to pre-edging work, the sixth robot places the second gripper on the edging die device and separates from the second gripper, and then the sixth robot grips the roller head at the placing frame;
step S7: the sixth robot, the seventh robot and the second robot simultaneously perform final edge rolling operation on the current part to finish the second-order final edge rolling of the current part, and the rolling head is placed on the placing rack after the sixth robot finishes the edge rolling;
step S8: the sixth robot reaches the second gripper and is connected with the second gripper through a gun changing disc, the current part which is subjected to edge rolling is picked up and placed on the flexible blanking table, and the sixth robot returns to the original point;
step S9: if the vehicle type does not need to be switched, repeating the steps S4 to S8 to finish the edge rolling; and if the vehicle type needs to be switched, the tetrahedral rotary table device rotates by 90 degrees clockwise, and then the step 1 is carried out.
4. The robot two-station binding method as claimed in claim 3, wherein the step of switching the vehicle type in step S9 further comprises:
the trimming die device is unlocked from the tetrahedral turntable device, the trimming die devices of the same vehicle type are pushed out of the tetrahedral turntable device from two opposite sides respectively, and are switched on the switching trolley through the transition table until being pushed, the trimming die devices of the new vehicle type are placed on the switching trolley, and are locked through the transition table until being pushed to the tetrahedral turntable device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096288.1A CN114406063A (en) | 2022-01-26 | 2022-01-26 | Robot two-station edge rolling system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210096288.1A CN114406063A (en) | 2022-01-26 | 2022-01-26 | Robot two-station edge rolling system and method |
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| Publication Number | Publication Date |
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| CN114406063A true CN114406063A (en) | 2022-04-29 |
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| CN202210096288.1A Pending CN114406063A (en) | 2022-01-26 | 2022-01-26 | Robot two-station edge rolling system and method |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105880401A (en) * | 2016-07-11 | 2016-08-24 | 东风汽车公司 | Efficient and flexible robot edge-rolling island for door panel |
| CN105921629A (en) * | 2016-06-20 | 2016-09-07 | 广州瑞松北斗汽车装备有限公司 | Robot intelligent rolling and edge covering system and robot intelligent rolling and edge covering method |
| US20180361453A1 (en) * | 2017-06-16 | 2018-12-20 | Hirotec Corporation | Hemming device and hemming method |
| CN112108545A (en) * | 2019-08-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | High-beat binding method |
| CN212735849U (en) * | 2020-07-16 | 2021-03-19 | 精诚工科汽车系统有限公司 | Station rotary table |
| CN215508665U (en) * | 2021-03-12 | 2022-01-14 | 上汽通用五菱汽车股份有限公司 | Vehicle door edge wrapping line |
-
2022
- 2022-01-26 CN CN202210096288.1A patent/CN114406063A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105921629A (en) * | 2016-06-20 | 2016-09-07 | 广州瑞松北斗汽车装备有限公司 | Robot intelligent rolling and edge covering system and robot intelligent rolling and edge covering method |
| CN105880401A (en) * | 2016-07-11 | 2016-08-24 | 东风汽车公司 | Efficient and flexible robot edge-rolling island for door panel |
| US20180361453A1 (en) * | 2017-06-16 | 2018-12-20 | Hirotec Corporation | Hemming device and hemming method |
| CN112108545A (en) * | 2019-08-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | High-beat binding method |
| CN212735849U (en) * | 2020-07-16 | 2021-03-19 | 精诚工科汽车系统有限公司 | Station rotary table |
| CN215508665U (en) * | 2021-03-12 | 2022-01-14 | 上汽通用五菱汽车股份有限公司 | Vehicle door edge wrapping line |
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