WO2020258807A1

WO2020258807A1 - High-speed hemming system based on servo turntable and truss manipulator

Info

Publication number: WO2020258807A1
Application number: PCT/CN2019/129699
Authority: WO
Inventors: 刘蕾; 汤东华; 汤伟; 刘宏婕; 方晨程; 李骥国
Original assignee: 安徽巨一科技股份有限公司
Priority date: 2019-06-28
Filing date: 2019-12-30
Publication date: 2020-12-30
Also published as: CN110153253B; CN110153253A

Abstract

A high-speed hemming system based on a servo turntable and a truss manipulator, comprising a loading station, a hemming station, and an unloading station that are sequentially connected from left to right. A rotating table (4) is provided on the hemming station. A mold (5) is fixed on the rotating table (4). A plurality of hemming robots (7) are provided around the circumference of the rotating table (4). A truss manipulator (8) is provided on one side of the rotating table (4). The truss manipulator (8) comprises a truss (81), a moving block (82), and a vertical arm (83). The moving block (82) is slidably arranged on the truss (81) and can move left and right along the truss (81). The vertical arm (83) is slidably arranged on the moving block (82). The bottom of the vertical arm (83) is connected with a hemming grab (9) by means of a connecting mechanism. During a hemming process, a door cover (12) is positioned and pressed tightly by means of a hemming grab (9), and the rotating door cover (12) is hemmed by means of the hemming robots (7). After the hemming is completed, the hemmed door cover (12) is removed from the mold (5) by means of the hemming grab (9) and conveyed to the unloading table (10) of the unloading station. The high-speed hemming system improves the hemming beat and ensures the hemming quality.

Description

High-speed hemming system based on servo turntable and truss manipulator

Technical field

The invention relates to the technical field of car body processing equipment, in particular to a high-speed hemming system based on a servo turntable and a truss manipulator.

Background technique

The existing door cover hemming system includes a fixed table on which a tire mold is set. When working, the upper part robot is connected to the upper part gripper, and the upper part gripper grabs the door cover onto the tire mold. The gripper leaves the door cover plate, and then locates and clamps the plate through each positioning clamping tool set on the fixed table, and then performs hemming operation by the hemming robot. After the hemming is completed, the loading robot is used for loading. Due to the positioning and clamping tooling provided on the fixed table, these positioning and clamping tools will interfere with the hemming operation of the hemming robot during the hemming process. The hemming robot must avoid these positioning and clamping tools, which greatly affects the work cycle and hemming. quality. Moreover, after the hemming is completed, the positioning and clamping tooling on the fixed table must first release the door cover, and then the loading robot will perform the loading operation. There is some waiting time, which prolongs the loading time and further reduces the work cycle. In addition, because the fixed table is fixed, the hemming robot completely relies on the hemming robot to complete the hemming operation on the edge of the door cover in the hemming project, and the hemming efficiency is low.

Summary of the invention

The purpose of the present invention is to overcome the shortcomings of the prior art and provide a high-speed hemming system based on a servo turntable and a truss manipulator to improve the hemming beat and ensure the hemming quality.

The present invention is realized through the following technical solutions:

A high-speed hemming system based on a servo turntable and a truss manipulator. The high-speed hemming system is used for hemming the edge of the door cover. The door cover includes an inner plate and an outer plate stacked one on top of the other. The high-speed hemming system includes from left to right. The upper part station, the hemming station and the lower part station set up in sequence,

The loading station is provided with a loading table and a loading robot, and the door cover on the loading table is transported to the piping station by the loading robot;

The hemming station is provided with a rotatable rotary table, the rotary table is fixedly provided with a tire mold for placing the door cover, a plurality of hemming robots are arranged around the circumference of the rotary table, and the rotary table is one A truss manipulator is provided on the side. The truss manipulator includes a truss, a moving block, and a vertical arm. The moving block is slidably arranged on the truss and can move left and right along the truss, and the vertical arm is slidably arranged on the moving block and can move left and right. Moving up and down along the moving block, the bottom of the vertical arm is connected with a piping gripper through a connecting mechanism. During the piping process, the door cover is positioned and pressed by the piping gripper, and the door cover is rotated by the piping robot Carry out hemming operation; after hemming is completed, the door cover that has finished hemming is removed from the tire mold by the hemming grabber and sent to the lower part table of the lowering station.

Further, the connection mechanism is a floating rotation connection mechanism, and the floating rotation connection mechanism includes a clamping module and a rotation module,

The clamping module includes a housing, a clamping block, an end cover, and spherical balls. The housing is provided with a cavity, the top of the housing is connected with the vertical arm of the truss manipulator, and the bottom of the housing is covered by an end cover The cavity is closed, the middle of the end cap protrudes upward to form a boss, the bottom of the boss is opened with a columnar cavity, the side wall of the boss is evenly distributed with a plurality of radial through holes along the circumferential direction, the The side of the radial through hole facing the cylindrical cavity has a tapered constriction, the spherical ball is built in the radial through hole, and both ends of the spherical ball are exposed outside the radial through hole. The outer side is blocked by the tapered surface of the clamping block, and the inner side is tapered to keep the spherical ball in the radial through hole without falling out. The clamping block is located in the cavity of the housing, and the bottom of the clamping block A clamping cavity is provided, and the lower section of the inner side wall of the clamping cavity of the clamping block is circular cone-shaped, and the clamping block is driven to move up and down through a driving mechanism;

The rotating module includes a rotating shaft, the rotating shaft is rotatably supported on the end cover through an end bearing, the bottom end of the rotating shaft is connected with a piping gripper, and the top end of the rotating shaft extends into the cylindrical cavity of the boss Inside, a compression boss is provided on the top of the rotating shaft, and the compression boss is a horn-shaped structure that expands from bottom to top;

When the clamping block moves downwards, the lower section of the clamping cavity moves downwards and the multiple spherical balls in the circumferential direction of the extrusion boss retract into the radial through hole, and the compression boss of the rotating shaft is pressed by the spherical balls to rotate Move the shaft upwards until the top of the rotating shaft touches the top wall of the cylindrical cavity of the boss. At this time, multiple spherical balls clamp the rotating shaft inward; when the clamping block moves upward, the lower part of the clamping cavity releases the spherical balls. Release the rotating shaft, and the rotating shaft can rotate freely.

Further, the piping gripper includes a piping body frame, the piping body frame is provided with a piping clamping mechanism for clamping the inner plate, a piping suction mechanism for sucking the outer plate, and a piping suction mechanism for locating the inner plate The hemming positioning mechanism; the edge of the hemming body frame is provided with a plurality of hemming pressing blocks for pressing the edge of the inner plate.

Further, an upper part gripper is connected to the mechanical arm of the upper part robot, and the door cover is grasped by the upper part gripper. The upper part gripper includes an upper part main body frame, and the upper part main body frame An upper part clamping mechanism for clamping the outer plate, an upper part suction mechanism for sucking the outer plate, and an upper part positioning mechanism for positioning the inner plate are provided on the upper part.

Further, the rotating table is driven to rotate by a servo motor.

Compared with the prior art, the present invention has the following advantages:

The present invention provides a high-speed hemming system based on a servo turntable and a truss manipulator, which greatly improves the hemming efficiency by setting the tire mold on a rotatable rotating table, and when hemming, it rotates in the opposite direction with the hemming head of the hemming robot. The production cycle is improved; at the same time, the truss manipulator is set up with the hemming gripper, which not only realizes the positioning and pressing of the door cover during the hemming process, but also realizes the lowering operation after hemming, eliminating the need for the lowering robot and the previous fixing The positioning and clamping tooling on the table eliminates the need to avoid tooling during the hemming process, and does not need to switch multiple times during the loading process, which further improves the production cycle.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the structure of the upper part gripper of the present invention.

Fig. 3 is a schematic diagram of the structure of the piping gripper of the present invention.

Figure 4 is a partially enlarged view of the hemming station of the present invention.

Figure 5 is a front cross-sectional view of the floating rotary connection mechanism of the present invention in a clamped state.

Fig. 6 is a front sectional view of the floating rotary connection mechanism of the present invention in a released state.

Fig. 7 is a front cross-sectional view of the end cover of the floating rotary connection mechanism of the present invention.

Numbers in the figure: 1 upper part table, 2 upper part robot, 3 upper part gripper, 31 upper part main body frame, 32 upper part gripper changing gun disc, 33 upper part clamping mechanism, 34 upper part suction mechanism, 35 upper part Piece positioning pin, 36 upper piece sensor, 4 rotating table, 5 tire mold, 6 floating rotating connection mechanism, 61 housing, 62 clamping block, 63 end cover, 64 boss, 65 spherical ball, 66 clamping cavity, 67 cylinder, 68 rotation axis, 69 end bearing, 610 compression boss, 611 radial through hole, 7 hemming robot, 8 truss manipulator, 81 truss, 82 moving block, 83 vertical arm, 9 hemming gripper, 91 hemming Main frame, 92 piping clamping mechanism, 93 piping suction mechanism, 94 piping press block, 95 piping positioning pin, 96 piping sensor, 97 piping gripper changer, 10 loading table, 11 servo motor, 12 door cover.

Detailed ways

The following describes the embodiments of the present invention in detail. This embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation modes and specific operation procedures, but the protection scope of the present invention is not limited to the following implementations example.

1-7, this embodiment discloses a high-speed hemming system based on a servo turntable and a truss manipulator. The high-speed hemming system is used for hemming the edge of the door cover 12. The door cover 12 includes an inner panel and an outer panel stacked one above the other. , The high-speed hemming system includes upper part station, hemming station and lower part station which are successively arranged from left to right.

The loading station is provided with a loading table 1 and a loading robot 2, and the door cover 12 on the loading table 1 is transported to the hemming station by the loading robot 2. An upper part gripper 3 is connected to the mechanical arm of the upper part robot 2, and the upper part gripper 3 realizes the grasping of the door cover 12. The upper part gripper 3 includes an upper part main body frame 31 through which the upper part main body frame 31 passes The upper part gripper gun changing disc 32 on the top is connected with the mechanical arm of the upper part robot 2. The upper body frame 31 is provided with an upper member clamping mechanism 33 for clamping the outer panel, an upper member suction mechanism 34 for sucking the outer panel, and an upper member positioning mechanism for positioning the inner panel.

The hemming station is provided with a rotating table 4 which is driven to rotate by a servo motor 11. A tire mold 5 for placing the door cover 12 is fixed on the rotating table 4, a plurality of hemming robots 7 are arranged around the rotating table 4, and a truss manipulator 8 is provided on one side of the rotating table 4, and the truss manipulator 8 includes a truss 81, The moving block 82, the vertical arm 83, the moving block 82 is slidably arranged on the truss 81 and can move left and right along the truss 81, and the vertical arm 83 is slidably arranged on the moving block 82 and can move up and down along the moving block 82, vertical The bottom of the arm 83 is connected with a hemming gripper 9 through a connecting mechanism. During the hemming process, the hemming gripper 9 is used to realize the positioning and pressing of the door cover 12, and the hemming operation is performed on the rotating door cover 12 by the hemming robot; After completion, the door cover 12 that has been hemmed is removed from the tire mold 5 by the hemming gripper 9 and sent to the lower part table 10 of the lower part station.

Specifically, the piping gripper 9 includes a piping body frame 91, and the piping body frame 91 is connected to the connecting mechanism through the piping gripper gun changing plate 97 on the top. The piping body frame 91 is provided with a piping clamping mechanism 92 for clamping the inner plate, a piping suction mechanism 93 for sucking the outer plate, and a piping positioning mechanism for positioning the inner plate; the piping body frame 91 has a side edge A plurality of piping pressing blocks 94 for pressing the edge of the inner plate.

Among them, the upper part clamping mechanism 33 and the hemming clamping mechanism 92 can be selected from the V series integrated clamp produced by Shanghai Dekesi Machinery Automation Technology Co., Ltd., and the model can be selected: V50.1 or V63.1. Type clamp. The integrated clamp includes a clamping arm, which can be turned in a vertical plane under the drive of the clamp. A compression block is installed at the front end of the clamping arm, and the compression block flips together with the clamping arm. The upper body frame 31 or the piping body frame 91 is also provided with a supporting block that cooperates with the pressing block. When the pressing surface of the pressing block is turned over to lie opposite to the corresponding supporting block, the supporting block and the pressing block The plates are clamped between the pressing surfaces of the block.

The upper part suction mechanism 34 and the piping suction mechanism 93 respectively adopt a plurality of suction cup assemblies, and the plurality of suction cup assemblies respectively pass downward through the corresponding through holes of the inner plate and then suck the outer plate.

The upper part positioning mechanism includes upper part positioning pins 35 and upper part sensor 36. The upper part sensor 36 uses a proximity switch. The upper part sensor 36 detects the distance between it and the inner plate to determine whether the upper part gripper 3 has moved in place. . The upper part positioning pin 35 cooperates with the positioning hole of the inner plate to realize the relative positioning between the upper part gripper 3 and the door cover 12.

The hemming positioning mechanism includes a hemming positioning pin 95 and a hemming sensor 96. The hemming sensor 96 uses a proximity switch. The hemming sensor 96 detects the distance between it and the inner plate to determine whether the hemming gripper has moved in place. The hemming positioning pin 95 cooperates with the positioning hole of the inner plate to realize the relative positioning between the hemming grab 9 and the door cover 12. The above positioning mechanism adopts a sensor and a positioning pin for dual positioning, which improves the positioning accuracy.

Specifically, the connecting mechanism is a floating rotating connecting mechanism 6, and the floating rotating connecting mechanism 6 includes a clamping module and a rotating module.

The clamping module includes a housing 61, a clamping block 62, and an end cover 63. The top of the housing 61 is connected to the vertical arm 83 of the truss manipulator 8. The housing 61 is provided with a cavity, and the bottom of the housing 61 is connected by the end cover 63. The cavity is closed. The middle of the end cover 63 protrudes upward to form a boss 64. The bottom of the boss 64 is provided with a columnar cavity. The side walls of the boss 64 are spaced circumferentially with a plurality of radial through holes 611. The side of the 611 facing the cylindrical cavity has a tapered constriction. The spherical ball 65 is built into the radial through hole 611. Both ends of the spherical ball 65 are exposed outside the radial through hole 611. The clamping block 62 is located in the cavity of the housing 61. In the cavity, the bottom of the clamping block 62 is provided with a clamping cavity 66. The lower section of the inner wall of the clamping cavity 66 of the clamping block 62 is circular cone-shaped. The clamping block 62 is driven to move up and down by a driving mechanism. The driving mechanism can be an air cylinder 67 , The piston rod of the cylinder 67 is fixedly connected to the clamping block 62.

The rotating module includes a rotating shaft 68. The rotating shaft 68 is rotatably supported on the end cover 63 through an end bearing 69. The bottom end of the rotating shaft 68 is connected with the flanged gripper gun change plate 97 of the flanged gripper 9, and the top end of the rotating shaft 68 extends into In the cylindrical cavity of the boss 64, a pressing boss 610 is provided on the top of the rotating shaft 68, and the pressing boss 610 has a horn-like structure that expands from bottom to top.

When the clamping block 62 moves downward, the lower section of the clamping cavity 66 moves downward and the plurality of spherical balls 65 in the circumferential direction of the extrusion boss 64 retracts into the radial through hole 611, and the spherical balls 65 squeeze the rotation shaft 68 The boss 610 is pressed so that the rotating shaft 68 moves upward until the top of the rotating shaft 68 abuts the top wall of the cylindrical cavity of the boss 64. At this time, the plurality of spherical balls 65 clamp the rotating shaft 68 inward, and the rotating shaft 68 is relative to The end cap 63 cannot be rotated and is in a clamped state. When the clamping block 62 moves upward, the lower section of the clamping cavity 66 releases the spherical ball 65, and the spherical ball 65 releases the rotating shaft 68. At this time, the rotating shaft 68 can rotate freely and is in a released state.

The working process of the high-speed hemming system provided in this embodiment is as follows:

First, place the door cover 12 panels that need piping on the upper part table 1. The upper part robot 2 drives the upper part gripper 3 to the upper part of the upper part table 1, through the upper part positioning pin 35 and the upper part sensor 36. After positioning and in place, the upper part sucking mechanism 34 passes downward through the corresponding through holes on the inner plate and then sucks the outer plate, so that the door cover 12 moves upward and leaves the upper part table 1, and the upper part clamping mechanism 33 grips the door The cover 12 reserves a working space; then the upper part clamping mechanism 33 clamps the entire door cover 12 to realize the grasping of the door cover 12.

Then the upper part robot 2 grabs the door cover 12 and moves it to the top of the tire mold 5 at the piping station. The upper part clamping mechanism 33 releases the door cover 12. After the upper part suction mechanism 34 sucks the door cover 12 and moves it down into place, the door cover 12 Place it on the tire mold 5, and then release the upper part suction mechanism 34 to complete the upper part operation; then the upper part robot 2 drives the entire upper part gripper 3 to leave the door cover 12 and return to the initial position, ready for the next upper part.

The vertical arm 83 of the truss manipulator 8 is connected to the hemming gripper 9 through the floating rotating connection mechanism 6. At this time, the floating and rotating connecting mechanism 6 is controlled to be in a clamped state, and the hemming gripper 9 cannot rotate relative to the vertical arm 83. The hemming gripper 9 is driven by the truss manipulator 8 to move to the top of the tire mold 5, and is positioned by the hemming positioning pin 95 and the hemming sensor 96. When in place, the hemming press block 94 on the hemming grab 9 is used to press the inner plate edge to avoid The inner plate slips during the hemming process to ensure the hemming quality. So far, the positioning and pressing of the door cover 12 of the tire mold 5 has been completed by the hemming grab 9.

Next, hemming is performed. Before hemming, the floating rotating connection mechanism 6 is controlled to be in a released state, and the hemming grab 9 can rotate freely relative to the vertical arm 83. The servo motor 11 drives the rotating table 4 to rotate, and then drives the tire mold 5, the door cover 12 and the hemming gripper 9 to rotate synchronously, and the surrounding hemming robot 7 moves to perform hemming operations on the rotating door cover 12.

After the hemming work is completed, the hemming robot 7 leaves the door cover 12, and at the same time, controls the floating rotating connection mechanism 6 to return to the clamping state from the released state, and at the same time the hemming clamping mechanism 92 and the hemming suction mechanism 93 of the hemming gripper 9 act, The door cover 12 is sucked and clamped, and then the vertical arm 83 of the truss manipulator 8 drives the hemming gripper 9 and the door cover 12 that has completed the hemming to move up and away from the tire mold 5, and move along the direction of the lower table 10 to move the door cover 12 is placed on the lower stage 10. During the loading process, the loading robot 2 moves the next door cover 12 from the loading platform 1 to the tire mold 5 to perform the next round of hemming operation. The truss manipulator 8 drives the hemming gripper 9 to move to the top of the tire mold 5 after the completion of the lower part, and waits for the next round of positioning and pressing of the door cover 12.

In this embodiment, the truss manipulator 8 is used in conjunction with the hemming gripper 9, which not only realizes the positioning and pressing of the door cover 12 during the hemming process, but also realizes the unloading operation after hemming.

First, the truss manipulator 8 moves extremely fast, reaching 1m/s; when the truss manipulator 8 is connected to the hemming gripper 9 to lower the door cover 12, the upper robot 2 works synchronously, from the upper part table 1 to the upper part. Tire mold 5. When the upper part of the upper part robot 2 completes the upper part and leaves the tire mold 5, the truss manipulator 8 completes the lower part and moves back to the top of the tire mold 5 to position and compress the door cover 12. Because the takt time of the upper part and the lower part overlap and there is no extra interference waiting time, the loading and unloading time is greatly shortened. After practical verification, compared with the traditional system relying on two robots for loading and unloading, it saves at least some 10 seconds.

Secondly, the positioning accuracy of the truss manipulator 8 is extremely high, reaching 0.05 mm, which is much smaller than the 0.2 mm positioning accuracy required by the hemming process for the hemming grab 9. Therefore, after the piping gripper 9 connected with the truss manipulator 8 is used to position the plate, there is no need to additionally install a positioning tool on the rotating table 4 to position the piping gripper 9 or the plate. It saves redundant positioning tooling and the time for the hemming robot 7 to avoid the positioning tool during the hemming process, and the door cover 12 is driven to rotate by the rotating table 4 during the hemming process. The hemming speed is faster and the hemming time required is shorter. Practice has proved that with this system, the hemming station can save about 8 seconds of time to complete one hemming.

Through the combination of the above two, the high-speed hemming system based on the truss manipulator can save about 18 seconds of time compared with the traditional hemming system, and finally makes the hemming cycle reach 60JPH, which greatly improves the hemming cycle.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention. Inside.

Claims

A high-speed hemming system based on a servo turntable and a truss manipulator. The high-speed hemming system is used for hemming the edge of the door cover. The door cover includes an inner plate and an outer plate stacked one above the other, characterized in that: the high-speed hemming system includes The upper work station, the hemming station and the lower work station are successively connected from left to right,

The loading station is provided with a loading table and a loading robot, and the door cover on the loading table is transported to the piping station by the loading robot;

The hemming station is provided with a rotatable rotary table, the rotary table is fixedly provided with a tire mold for placing the door cover, a plurality of hemming robots are arranged around the circumference of the rotary table, and the rotary table is one A truss manipulator is provided on the side. The truss manipulator includes a truss, a moving block, and a vertical arm. The moving block is slidably arranged on the truss and can move left and right along the truss, and the vertical arm is slidably arranged on the moving block and can move left and right. Moving up and down along the moving block, the bottom of the vertical arm is connected with a hemming gripper through a connecting mechanism. During the hemming process, the door cover is positioned and pressed by the hemming gripper, and the rotating door cover is performed by the hemming robot. Hemming operation: After hemming is completed, the hemming door cover is removed from the tire mold by the hemming grabber and sent to the lower part table of the lowering station.
The high-speed hemming system based on a servo turntable and a truss manipulator according to claim 1, wherein the connecting mechanism is a floating rotating connecting mechanism, and the floating rotating connecting mechanism includes a clamping module and a rotating module,

The clamping module includes a housing, a clamping block, an end cover, and spherical balls. The housing is provided with a cavity, the top of the housing is connected with the vertical arm of the truss manipulator, and the bottom of the housing is covered by an end cover The cavity is closed, the middle of the end cap protrudes upward to form a boss, the bottom of the boss is opened with a columnar cavity, the side wall of the boss is evenly distributed with a plurality of radial through holes along the circumferential direction, the The side of the radial through hole facing the cylindrical cavity has a tapered constriction, the spherical ball is built in the radial through hole, both ends of the spherical ball are exposed outside the radial through hole, and the clamping block is located in the housing In the cavity, a clamping cavity is provided at the bottom of the clamping block, and the lower section of the inner side wall of the clamping cavity of the clamping block is circular cone-shaped, and the clamping block is driven to move up and down through a driving mechanism;

The rotating module includes a rotating shaft, the rotating shaft is rotatably supported on the end cover through an end bearing, the bottom end of the rotating shaft is connected with a piping gripper, and the top end of the rotating shaft extends into the cylindrical cavity of the boss Inside, a compression boss is provided on the top of the rotating shaft, and the compression boss is a horn-shaped structure that expands from bottom to top;

When the clamping block moves downwards, the lower section of the clamping cavity moves downwards and the multiple spherical balls in the circumferential direction of the extrusion boss retract into the radial through hole, and the compression boss of the rotating shaft is pressed by the spherical balls to rotate Move the shaft upward until the top of the rotating shaft touches the top wall of the cylindrical cavity of the boss. At this time, a number of spherical balls clamp the rotating shaft inward; when the clamping block moves upward, the lower part of the clamping cavity releases the spherical balls, spherical The ball releases the rotating shaft, and the rotating shaft can rotate freely at this time.
The high-speed hemming system based on a servo turntable and a truss manipulator according to claim 1, wherein the hemming grab includes a hemming body frame, and a hemming clamping mechanism for clamping the inner plate is provided on the hemming body frame A piping suction mechanism for sucking the outer panel and a piping positioning mechanism for positioning the inner panel; the edge of the piping body frame is provided with a plurality of piping pressing blocks for pressing the edge of the inner panel.
The high-speed hemming system based on the servo turntable and the truss manipulator according to claim 1, characterized in that: the upper part gripper is connected to the manipulator arm of the upper part robot, and the door cover is grasped by the upper part gripper. , The upper part gripper includes an upper part main body frame, the upper part main body frame is provided with an upper part clamping mechanism for clamping the outer plate, an upper part suction mechanism for sucking the outer plate, and an inner Upper part positioning mechanism for plate positioning.
The high-speed hemming system based on a servo turntable and a truss manipulator according to claim 1, wherein the turntable is driven to rotate by a servo motor.