A rolling and pressing device for inner and outer door panels and a rolling and pressing control method

Abstract

A rolling and pressing device and control method for inner and outer door panels are disclosed, relating to the field of vehicle body welding technology, solving problems such as the limited number of vehicle models and space constraints. The device includes a pressure plate fixture, a pressing mold fixture, a positioning sliding base, a switching clamping robot, a rolling robot, and a control module. The pressing mold fixture is mounted on the positioning sliding base, which drives the pressing mold fixture to move. The switching clamping robot has an upper switching plate, and the pressure plate fixture has a lower switching plate on its outer side; the fixture switching is achieved by locking and unlocking the upper and lower switching plates. The rolling robot is equipped with rolling tools. The control system includes a PLC control subsystem and a robot control subsystem. The PLC control subsystem sends commands to the robot control subsystem to control the operation of the pressure plate fixture and the pressing mold fixture. The robot control subsystem controls the operation of the switching clamping robot, the rolling robot, and the positioning sliding base according to the commands.

Description

Technical Field

[0001] This invention relates to the field of vehicle body welding technology, specifically to a rolling edge pressing device and rolling edge pressing control method for the inner and outer panels of a vehicle door. Background Technology

[0002] In the door hemming and pressing system, the hemming effect of the inner and outer door panels determines the overall vehicle matching and aesthetics, as well as product quality, which requires ensuring hemming precision. However, due to the lack of reference positioning holes in the outer door panels, the hemming and pressing of the inner and outer panels of the four doors has consistently suffered from insufficient positioning precision and poor hemming quality. Current hemming mechanisms and systems lack rigorous precision positioning configurations, relying entirely on the optimization and adjustment of the robot's hemming trajectory for the hemming effect, which is extremely time-consuming and labor-intensive. Furthermore, while current hemming systems have made numerous design innovations, they are still constrained by the number of vehicle models and available space, resulting in insufficient scalability and compatibility. The control methods are also relatively simple, failing to meet the current demands for cost reduction and efficiency improvement. Most workpiece clamping methods require opening during hemming, and improper control of the rolling tool's force can cause localized deformation of the workpiece, making adjustment extremely difficult and requiring repeated debugging, verification, and correction. In addition to inherent problems with the mechanism itself, existing hemming systems also suffer from limitations in vehicle model, site, switching, and control methods.

[0003] In summary, the existing four-door rolling and pressing technology has many drawbacks, such as positioning accuracy errors, easy workpiece deformation, large space limitations, limited number of vehicle models that can be implemented, difficulty in upgrading and expanding control methods, and poor compatibility. Summary of the Invention

[0004] To address the issues of limited vehicle models and site space, this invention proposes a rolling edge pressing device and a rolling edge pressing control method for the inner and outer panels of vehicle doors.

[0005] The technical solution of the present invention is as follows:

[0006] A rolling and pressing device for inner and outer panels of a car door includes a pressure plate clamp, a pressing mold clamp, a positioning and sliding base, a switching clamping robot, a rolling robot, and a control module;

[0007] The pressing mold fixture is used in conjunction with the pressure plate fixture to clamp and fix the inner and outer panels of the car door;

[0008] The pressing mold fixture is detachably mounted on the positioning sliding base, and the positioning sliding base is used to drive the pressing mold fixture to move;

[0009] The switching clamping robot is equipped with an upper switching plate, and the outer side of the pressure plate clamp is equipped with a lower switching plate. The clamping is switched by locking and unlocking the upper and lower switching plates.

[0010] The rolling edge robot is equipped with rolling edge tools for rolling edge on the inner and outer panels of the car door;

[0011] The control system includes a PLC control subsystem and a robot control subsystem. The PLC control subsystem is used to issue commands to the robot control subsystem and control the operation of the pressure plate fixture and the pressing mold fixture. The robot control subsystem is used to control the switching of the fixed clamping robot, the rolling robot and the positioning sliding base to complete the rolling and displacement according to the commands.

[0012] Preferably, the number of the edging robots is two.

[0013] Preferably, the pressure plate fixture includes a pressure plate, and the lower switching disk is installed at the outer center of the pressure plate; multiple sets of pressure inserts are fixedly installed on the pressure plate for tightly fitting the inner door panel; two sets of adjustable positioning pin mechanism components are provided on the inner side of the pressure plate for achieving reference positioning of the inner door panel; positioning clamping connecting blocks are respectively provided at the four corners of the pressure plate, and a pair of diagonally positioned positioning clamping connecting blocks are provided with connecting plates, and the connecting plates are provided with positioning pins and a first detection switch; a second detection switch is also provided on the inner side of the pressure plate for detecting the fitting status of the inner door panel.

[0014] Preferably, the pressing mold fixture includes an integrated membrane mechanism and a bottom support base plate, wherein the integrated membrane mechanism is fixed on the bottom support base plate;

[0015] The integrated membrane mechanism is equipped with a third detection switch and several vacuum suction cups. The third detection switch is used to detect the position of the outer door panel, and the vacuum suction cups are used to suction and clamp the outer door panel.

[0016] The bottom support base plate is fixed with a partial folding mechanism, six workpiece positioning and clamping mechanisms, and four matching clamping mechanisms. Two of the matching clamping mechanisms are provided with reference positioning holes and a fourth detection switch. The reference positioning holes are used to position and cooperate with the positioning pins, and the fourth detection switch is used to detect the positioning status of the pressing mold fixture. The partial folding mechanism is used to complete the folding work on the partial plate that cannot accommodate the folding tool.

[0017] The bottom support base plate is provided with several connecting base plates for connecting with the positioning sliding base.

[0018] Preferably, the positioning sliding base includes a main base, a sliding base plate, a servo motor, and a reducer; a sliding guide rail and a linear gear rail are fixedly connected to the main base, and an adjustment connecting base plate is fixedly connected to the bottom of the main base for connecting with the ground;

[0019] The sliding base plate is provided with a sliding roller mounted on a linear toothed rail below, and a positioning pin is provided above the sliding base plate;

[0020] The servo motor is fixedly connected to the reducer, and a transmission gear is installed on the main shaft of the reducer for meshing and fixing with the linear gear rail to drive the sliding base plate to move.

[0021] Preferably, the PLC control subsystem includes a network communication master station module, a CPU processor, and a first safety control unit, and the robot control subsystem includes a network communication board and a second safety control unit. The CPU processor receives equipment operating status signals through the network communication master station module and vehicle model matching status signals through the network communication board. The first safety control unit and then the second safety control unit are used to receive on-site safety signals and comprehensively control the operation of the fixture and the robot based on the on-site safety signal data.

[0022] Preferably, the outer surface of the integrated membrane mechanism is a contoured surface that has been precision-machined and ground by CNC.

[0023] Preferably, the pressing insert is processed separately and used in combination, and the outer surface of the pressing insert is a CNC precision-machined and ground contour surface.

[0024] A method for hemming and pressing inner and outer panels of a car door, using the hemming and pressing equipment for inner and outer panels of a car door as described above, specifically includes the following steps:

[0025] S1. Clamping and positioning of the inner and outer door panels:

[0026] The workpiece for fitting the inner and outer panels of the car door is placed on the pressing mold fixture. The pressing mold fixture recognizes the workpiece, and the vacuum suction cup adsorbs it and sends a signal back to the control system.

[0027] S2. Clamping the inner and outer door panels:

[0028] The switching fixed clamping robot drives the pressure plate clamp onto the pressing mold clamp. The positioning mechanism on the pressure plate clamp is inserted into the matching positioning hole of the pressing mold clamp. The second and third detection switches detect that the workpiece position is accurate. The four sets of matching clamping mechanisms clamp the pressure plate clamp and send a feedback signal at the same time.

[0029] S3. Begin the hemming process:

[0030] The rolling robot with rolling tools enters the fixture area. The cylinder of the workpiece positioning and clamping mechanism flips and opens, and then the rolling begins. It rolls and presses the outer panel, and then wraps the inner panel. At the same time, the local folding mechanism presses the local workpiece for a certain period of time to complete the local folding.

[0031] S4. Complete the hemming process:

[0032] The rolling robot returns to its original position, the cylinder of the workpiece positioning and clamping mechanism clamps it, and it is back in the positioning state. The four sets of matching clamping mechanisms release the clamping state, the vacuum suction cup stops drawing vacuum, and the switching clamping robot drives the pressure plate fixture to return to its original position, removes the car door workpiece, and completes the rolling and pressing of the inner and outer panels of a car door.

[0033] S5, Vehicle model fixture switching judgment:

[0034] Based on the preset plan list or manual switching signal, determine whether to switch vehicle models and change fixtures. If it is necessary to switch vehicle models and change fixtures, proceed to the next step. If the same vehicle model is still being processed, return to the loop steps S1 to S4.

[0035] S6. Remove the original vehicle model clamp:

[0036] The switching fixed clamping robot drives the pressure plate clamp onto the pressing mold clamp. The first detection switch and the fourth detection switch recognize the positioning signal and provide signal feedback. The upper and lower plates of the switching disk disengage. After the switching fixed clamping robot returns to the waiting position and provides feedback, the sliding base plate moves to the loading position. At this time, the entire clamping mechanism is removed from the sliding base plate.

[0037] S7, New Model Fixture Entry:

[0038] The new vehicle model's overall fixture mechanism is installed on the sliding base plate, and then the vehicle model data is identified and judged. After the signal data matches, the vehicle model switching initialization command request takes effect.

[0039] The sliding base plate drives the overall clamping mechanism of the new model into the working position. After receiving the feedback signal, the switching clamping robot performs trajectory movement to lock the upper and lower switching plates together. The switching clamping robot drives the pressure plate clamping back to its position and then returns to execute steps S1 to S4.

[0040] Preferably, the outer panel is rolled and folded 3 times in step S3, and the pressing time for the partial fold is 3 seconds.

[0041] Compared with existing technologies, this invention solves the problems of limited vehicle quantity and site space, and its specific beneficial effects are as follows:

[0042] 1. The rolling edge pressing equipment provided by the present invention adopts a positioning sliding base, which can be used to drive the pressing mold fixture to move. It can be used in conjunction with the switching fixed clamping robot to effectively exit and enter the vehicle model fixture for fixture switching. There is no upper limit to the number of vehicle models, and it is not constrained by the site space. It has strong expansion and compatibility, and can achieve minimal investment in terms of factory area and equipment investment.

[0043] 2. This invention is not only applicable to high-cycle automated production of various car models, but also solves the problems of poor hemming accuracy and quality. Each pair of mechanisms has a positioning and matching mechanism to ensure accurate positioning. The clamping of the inner and outer door panel fittings adopts the method of pressing the pressure plate fixture against the pressing die fixture, which has a better clamping effect. The hemming area is completely unobstructed, with high surface fit and reduced working cycle. The working surfaces of the pressure plate and the pressing die are processed into contour surfaces to closely fit the inner and outer panel workpieces and reduce workpiece deformation. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of the door inner and outer panel rolling and pressing equipment described in Example 1;

[0045] Figure 2 This is a schematic diagram of the pressure plate fixture described in Example 3;

[0046] Figure 3 This is a schematic diagram of the pressing mold fixture described in Example 4;

[0047] Figure 4 This is a schematic diagram of the positioning sliding base described in Example 5;

[0048] Figure 5 This is a schematic diagram of the control system structure described in Example 6;

[0049] Figure 6 This is a schematic diagram of the control method described in Example 9. Detailed Implementation

[0050] To make the technical solutions of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the following embodiments are only used to better understand the technical solutions of the present invention and should not be construed as limiting the present invention.

[0051] Example 1.

[0052] This embodiment provides a rolling and pressing device for the inner and outer panels of a car door, such as... Figure 1 As shown, it includes a pressure plate clamp 1, a pressing mold clamp 2, a positioning sliding base 3, a switching clamping robot 4, a rolling edge robot 5, and a control module;

[0053] The pressing mold clamp 2 is used in conjunction with the pressure plate clamp 1 to clamp and fix the inner and outer panels of the car door;

[0054] The pressing mold clamp 2 is detachably mounted on the positioning sliding base 3, and the positioning sliding base 3 is used to drive the pressing mold clamp 2 to move.

[0055] The switching clamping robot 4 is equipped with an upper switching plate, and the outer side of the pressure plate clamp 1 is equipped with a lower switching plate. The clamping is switched by locking and unlocking the upper and lower switching plates.

[0056] The rolling robot 5 is equipped with rolling tools for rolling the inner and outer panels of the car door.

[0057] The control system includes a PLC control subsystem and a robot control subsystem. The PLC control subsystem is used to issue instructions to the robot control subsystem and control the operation of the pressure plate clamp 1 and the pressing mold clamp 2. The robot control subsystem is used to control the switching of the fixed clamping robot 4, the rolling robot 5 and the positioning sliding base 3 according to the instructions to complete the rolling and displacement.

[0058] The rolling edge pressing equipment provided in this embodiment adopts a positioning sliding base, which can be used to drive the pressing mold fixture 2 to move. It works in conjunction with the switching fixed clamping robot 4 to effectively exit and enter the vehicle model fixture for fixture switching. There is no upper limit to the number of vehicle models, and it is not constrained by site space. It has strong expansion and compatibility, and can achieve minimal investment in terms of factory area and equipment investment.

[0059] Example 2.

[0060] This embodiment is a further example of Embodiment 1, and the number of the edge-rolling robots is two.

[0061] This embodiment can improve the rolling efficiency and meet high cycle requirements by having two rolling robots work together.

[0062] Example 3.

[0063] This embodiment is a further illustrative example of Embodiment 1. A schematic diagram of the structure of the pressure plate clamp 1 can be found in [the provided text]. Figure 2The system includes a pressing base plate 1-8, with the lower switching disk 1-6 mounted at the outer center of the pressing base plate 1-8. Multiple sets of pressing inserts 1-1 are fixedly mounted on the pressing base plate for tightly fitting the inner door panel. Two sets of adjustable positioning pin mechanisms 1-5 are provided on the inner side of the pressing base plate 1-8 for achieving reference positioning of the inner door panel. Positioning clamping connecting blocks 1-4 are respectively provided at the four corners of the pressing base plate 1-8, with connecting plates 1-3 on a pair of diagonally opposite positioning clamping connecting blocks 1-4. The connecting plates 1-3 are provided with positioning pins 1-2 and a first detection switch 1-10. A second detection switch 1-9 is also provided on the inner side of the pressing base plate for detecting the fitting status of the inner door panel.

[0064] Example 4.

[0065] This embodiment is a further illustrative example of embodiment 3. A schematic diagram of the structure of the pressing mold fixture 2 can be found in [the provided text]. Figure 3 It includes an integrated membrane mechanism 2-1 and a bottom support base plate 2-7, wherein the integrated membrane mechanism 2-1 is fixed on the bottom support base plate 2-7;

[0066] The integrated membrane mechanism 2-1 is equipped with a third detection switch 2-10 and several vacuum suction cups 2-2. The third detection switch 2-10 is used to detect the position of the outer door panel, and the vacuum suction cups 2-2 are used to suction and clamp the outer door panel.

[0067] The bottom support base plate 2-7 is fixed with a partial folding mechanism 2-6, six workpiece positioning and clamping mechanisms 2-5, and four matching clamping mechanisms 2-4. Two of the matching clamping mechanisms 2-4 are provided with reference positioning holes 2-3 and a fourth detection switch 2-9. The reference positioning holes 2-3 are used to position and cooperate with the positioning pins 1-2, and the fourth detection switch 2-9 is used to detect the positioning status of the pressing mold fixture 2. The partial folding mechanism 2-6 is used to complete the rolling operation on the partial plates that cannot accommodate the rolling tool.

[0068] The bottom support base plate 2-7 has several connecting base plates 2-8 at its bottom, which are used to connect with the positioning sliding base 3.

[0069] The equipment provided in this embodiment is not only suitable for high-speed automated production of various car models, but also solves the problems of poor hemming accuracy and quality. Each pair of mechanisms has a positioning and matching mechanism to ensure accurate positioning. The clamping of the inner and outer door panel fittings adopts the method of pressing the clamping die with a pressure plate clamp, which has a better clamping effect.

[0070] Example 5.

[0071] This embodiment is a further illustrative example of Embodiment 1. The structure of the positioning sliding base 3 is shown in [reference needed]. Figure 4 As shown, it includes a main base 3-3, a sliding base plate 3-1, a servo motor 3-7, and a reducer 3-8; a sliding guide rail 3-4 and a linear gear rail 3-5 are fixedly connected to the main base 3-3, and an adjustment connecting base plate 3-6 is fixedly connected to the bottom of the main base 3-3 for connecting to the ground;

[0072] The sliding base plate 3-1 is provided with a sliding roller below it, which is mounted on a linear toothed rail 3-5, and a positioning pin 3-2 is provided above the sliding base plate 3-1;

[0073] The servo motor 3-7 is fixedly connected to the reducer 3-8. The main shaft of the reducer 3-8 is equipped with a transmission gear, which is used to mesh and be fixed together with the linear gear rail to drive the sliding base plate to move.

[0074] Example 6.

[0075] This embodiment is a further illustrative example of Embodiment 1, see [link to embodiment]. Figure 5 As shown, the PLC control subsystem includes a network communication master station module, a CPU processor, and a first safety control unit. The robot control subsystem includes a network communication board and a second safety control unit. The CPU processor receives equipment operating status signals through the network communication master station module and vehicle model matching status signals through the network communication board. The first safety control unit and then the second safety control unit are used to receive on-site safety signals and comprehensively control the operation of the fixture and the robot based on the on-site safety signal data.

[0076] Example 7.

[0077] This embodiment is a further example of Embodiment 1. The outer surface of the integrated membrane mechanism 2-1 is a contoured surface that has been precision-machined and ground by CNC.

[0078] When the inner and outer panels of the car door are placed into the integrated mold mechanism of the pressing mold fixture, the profile of the outer panel of the car door can be in close contact with the contour surface of the integrated mold mechanism of the pressing mold fixture. Then, the workpiece positioning and clamping mechanism can perform more precise workpiece positioning, which can better ensure that the positioning of the outer panel of the car door is more accurate.

[0079] Example 8.

[0080] This embodiment is a further example of embodiment 1. The pressing insert 1-1 is processed separately and used in combination. The outer surface of the pressing insert 1-1 is a CNC precision-machined and ground contour surface.

[0081] Example 9.

[0082] This embodiment provides a method for hemming and pressing inner and outer door panels, using the hemming and pressing equipment for inner and outer door panels as described in any of embodiments 1-8, as referenced. Figure 6 As shown, the method specifically includes the following steps:

[0083] S1. Clamping and positioning of the inner and outer door panels:

[0084] The workpiece for fitting the inner and outer panels of the car door is placed on the pressing mold fixture 2. The pressing mold fixture 2 recognizes the workpiece, and the vacuum suction cup 2-2 adsorbs it and sends a signal back to the control system.

[0085] S2. Clamping the inner and outer door panels:

[0086] Switching the fixed clamping robot 4 drives the pressure plate clamp 1 onto the pressing mold clamp 2. The positioning mechanism 1-2 on the pressure plate clamp 1 is inserted into the matching positioning hole 2-3 of the pressing mold clamp 2. The second detection switch 1-9 and the third detection switch 2-10 detect that the workpiece position is accurate. The four sets of matching clamping mechanisms 2-4 clamp the pressure plate clamp 1 and send a feedback signal at the same time.

[0087] S3. Begin the hemming process:

[0088] The rolling robot 5, carrying the rolling tool, enters the fixture area. The cylinder of the workpiece positioning and clamping mechanism 2-5 flips and opens, and then the rolling begins. It rolls and presses the outer panel, and then wraps the inner panel. At the same time, the local folding mechanism 2-6 presses the local workpiece for a certain period of time to complete the local folding.

[0089] S4. Complete the hemming process:

[0090] The rolling edge robot 5 returns to its original position, the workpiece positioning and clamping mechanism 2-5 is clamped by the cylinder, and it is back in the positioning state. The four sets of matching clamping mechanisms 2-4 are released from the clamping state, the vacuum suction cup stops drawing vacuum, and the switching clamping robot 4 drives the pressure plate clamp 1 back to its original position. At this time, the car door workpiece is taken away, and the rolling edge pressing of the inner and outer panels of a car door is completed.

[0091] S5, Vehicle model fixture switching judgment:

[0092] Based on the preset plan list or manual switching signal, determine whether to switch vehicle models and change fixtures. If it is necessary to switch vehicle models and change fixtures, proceed to the next step. If the same vehicle model is still being processed, return to the loop steps S1 to S4.

[0093] S6. Remove the original vehicle model clamp:

[0094] The switching fixed clamping robot 4 drives the pressure plate clamp 1 to the pressing mold clamp 2. The first detection switch 1-10 and the fourth detection switch 2-9 identify the positioning signal and provide signal feedback. The upper and lower plates of the switching disk disengage. After the switching fixed clamping robot 4 returns to the waiting position, it provides a feedback signal. The sliding base plate 3-1 moves to the loading position. At this time, the entire clamping mechanism is removed from the sliding base plate 3-1.

[0095] S7, New Model Fixture Entry:

[0096] The new vehicle model integral fixture mechanism is installed on the sliding base plate 3-1, and then the vehicle model data is identified and judged. After the signal data matches, the vehicle model switching initialization command request takes effect.

[0097] The sliding base plate 3-1 drives the new model overall clamping mechanism into the working position. After receiving the feedback signal, the switching fixed clamping robot 4 performs trajectory movement to lock the upper and lower switching plates together. The switching fixed clamping robot 4 drives the pressure plate clamping 1 to return to its position and then returns to execute steps S1 to S4.

[0098] In the method provided in this embodiment, the switching and fixed clamping robot can be used in conjunction with the bottom positioning sliding base to perform effective clamp switching. The exit and entry of the vehicle model clamps are seamlessly connected through the control method. If a certain vehicle model is planned to be produced, only the corresponding clamp needs to be placed and the previous clamp needs to be exited in advance. The site space remains unchanged, and only the vehicle model clamps change. Minimal investment can be achieved in terms of factory area and equipment investment.

[0099] This embodiment is not only applicable to high-cycle automated production of various car models, but also solves the problems of poor hemming accuracy and quality. Each pair of mechanisms has a positioning and matching mechanism to ensure accurate positioning. The clamping of the inner and outer door panel fittings adopts the method of pressing the pressure plate fixture against the pressing die fixture, which has a better clamping effect. The hemming area is completely unobstructed, with high surface fit and reduced working cycle. The working surfaces of the pressure plate and the pressing die are machined into contour surfaces to closely fit the inner and outer panel workpieces and reduce workpiece deformation.

[0100] Therefore, the method provided in this embodiment can solve the problems of poor positioning accuracy of the hemming system, limited number of vehicle models and site space, single control method, poor scalability and compatibility. It is safe and reliable, with accurate and high-precision positioning during clamping and hemming processes, no upper limit on the number of vehicle models, no site space constraints, convenient fixture switching, and strong scalability and compatibility.

[0101] Example 10.

[0102] This embodiment is a further example of embodiment 9. In step S3, the outer panel is rolled and folded 3 times, and the pressing time of the partial fold is 3 seconds.

Claims

1. A rolling and pressing device for inner and outer panels of a car door, characterized in that, It includes a pressure plate clamp (1), a pressing mold clamp (2), a positioning sliding base (3), a switching clamping robot (4), a rolling edge robot (5), and a control module; The pressing mold fixture (2) is used in conjunction with the pressure plate fixture (1) to clamp and fix the inner and outer panels of the car door; The pressing mold fixture (2) is detachably mounted on the positioning sliding base (3), and the positioning sliding base (3) is used to drive the pressing mold fixture (2) to move. The switching clamping robot (4) is equipped with an upper switching plate, and the pressure plate clamp (1) is equipped with a lower switching plate on the outside. The clamping is switched by locking and unlocking the upper switching plate and the lower switching plate. The rolling robot (5) is equipped with rolling tools for rolling the inner and outer panels of the car door; The control module includes a PLC control subsystem and a robot control subsystem. The PLC control subsystem is used to issue instructions to the robot control subsystem and control the operation of the pressure plate clamp (1) and the pressing mold clamp (2). The robot control subsystem is used to control the switching of the fixed clamping robot (4), the rolling robot (5) and the positioning sliding base (3) according to the instructions to complete the rolling and displacement. The positioning sliding base (3) includes a main base (3-3), a sliding base plate (3-1), a servo motor (3-7), and a reducer (3-8); a sliding guide rail (3-4) and a linear gear rail (3-5) are fixedly connected to the main base (3-3), and an adjustment connecting base plate (3-6) is fixedly connected to the bottom of the main base (3-3) for connecting to the ground; The sliding base plate (3-1) is provided with a sliding roller below it, which is mounted on a linear toothed rail (3-5), and a positioning pin (3-2) is provided above the sliding base plate (3-1). The servo motor (3-7) is fixedly connected to the reducer (3-8). The main shaft of the reducer (3-8) is equipped with a transmission gear, which is used to mesh and be fixed together with the linear gear rail to drive the sliding base plate to move.

2. The door inner and outer panel rolling and pressing equipment according to claim 1, characterized in that, The number of the edge-rolling robots is two.

3. The door inner and outer panel rolling and pressing equipment according to claim 1, characterized in that, The pressure plate fixture (1) includes a pressure plate (1-8), and the lower switching disk (1-6) is installed at the center of the outer side of the pressure plate (1-8). Multiple sets of pressure inserts (1-1) are fixedly installed on the pressure plate for tightly fitting the inner panel of the car door. Two sets of adjustable positioning pin mechanism components (1-5) are provided on the inner side of the pressure plate (1-8) for achieving the reference positioning of the inner panel of the car door. Positioning clamping connecting blocks (1-4) are provided at the four corners of the pressure plate (1-8), and a connecting plate (1-3) is provided on a pair of diagonally opposite positioning clamping connecting blocks (1-4). The connecting plate (1-3) is provided with a positioning mechanism (1-2) and a first detection switch (1-10). A second detection switch (1-9) is also provided on the inner side of the pressure plate for detecting the fitting status of the inner panel of the car door.

4. The door inner and outer panel rolling and pressing equipment according to claim 3, characterized in that, The pressing mold fixture (2) includes an integral mold mechanism (2-1) and a bottom support base plate (2-7), wherein the integral mold mechanism (2-1) is fixed on the bottom support base plate (2-7); The integrated tire mold mechanism (2-1) is equipped with a third detection switch (2-10) and several vacuum suction cups (2-2). The third detection switch (2-10) is used to detect the position of the outer door panel, and the vacuum suction cups (2-2) are used to suction and clamp the outer door panel. The bottom support base plate (2-7) is fixed with a partial folding mechanism (2-6), six workpiece positioning and clamping mechanisms (2-5), and four matching clamping mechanisms (2-4). Two of the matching clamping mechanisms (2-4) are provided with reference positioning holes (2-3) and a fourth detection switch (2-9). The reference positioning holes (2-3) are used to position and cooperate with the positioning mechanism (1-2), and the fourth detection switch (2-9) is used to detect the positioning status of the pressing mold fixture (2). The partial folding mechanism (2-6) is used to complete the rolling work on the partial plate that cannot accommodate the rolling tool. The bottom support base plate (2-7) has several connecting base plates (2-8) at its bottom, which are used to connect with the positioning sliding base (3).

5. The door inner and outer panel rolling and pressing equipment according to claim 1, characterized in that, The PLC control subsystem includes a network communication master station module, a CPU processor, and a first safety control unit. The robot control subsystem includes a network communication board and a second safety control unit. The CPU processor receives equipment operating status signals through the network communication master station module and vehicle model matching status signals through the network communication board. The first and second safety control units are used to receive on-site safety signals and comprehensively control the fixture and robot movements based on the on-site safety signal data.

6. The door inner and outer panel rolling and pressing equipment according to claim 4, characterized in that, The outer surface of the integrated mold mechanism (2-1) is a CNC precision-machined and ground contour surface.

7. The door inner and outer panel rolling and pressing equipment according to claim 3, characterized in that, The pressing insert (1-1) is processed separately and used in combination. The outer surface of the pressing insert (1-1) is a CNC precision-machined and ground contour surface.

8. A method for rolling and pressing inner and outer panels of a car door, characterized in that, The method using the door inner and outer panel rolling and pressing equipment as described in any one of claims 1-7 specifically includes the following steps: S1. Clamping and positioning of the inner and outer door panels: The workpiece for fitting the inner and outer panels of the car door is placed on the pressing mold fixture (2). The pressing mold fixture (2) identifies the workpiece, and the vacuum suction cup (2-2) adsorbs it and sends a signal back to the control module. S2. Clamping the inner and outer door panels: The switching clamping robot (4) drives the pressure plate clamp (1) to the pressing mold clamp (2). The positioning mechanism (1-2) on the pressure plate clamp (1) is inserted into the matching reference positioning hole (2-3) of the pressing mold clamp (2). The second detection switch (1-9) and the third detection switch (2-10) detect that the workpiece position is accurate. The four sets of matching clamping mechanisms (2-4) clamp the pressure plate clamp (1) and send a feedback signal at the same time. S3. Begin the hemming process: The rolling robot (5) enters the fixture area with the rolling tool. The cylinder of the workpiece positioning and clamping mechanism (2-5) flips and opens, and then the rolling begins. The outer plate is rolled and the inner plate is edged. At the same time, the local folding mechanism (2-6) presses the local workpiece for a certain period of time to complete the local folding. S4. Complete the hemming process: The rolling edge robot (5) returns to its original position, the workpiece positioning and clamping mechanism (2-5) is clamped by the cylinder, and it is back in the positioning state. The four sets of matching clamping mechanisms (2-4) are released from the clamping state, the vacuum suction cup stops drawing vacuum, and the switching clamping robot (4) drives the pressure plate clamp (1) back to its original position. At this time, the car door workpiece is taken away, and the rolling edge pressing of the inner and outer panels of a car door is completed. S5, Vehicle model fixture switching judgment: Based on the preset plan list or manual switching signal, determine whether to switch vehicle models and change fixtures. If it is necessary to switch vehicle models and change fixtures, proceed to the next step. If the same vehicle model is still being processed, return to the loop steps S1~S4. S6. Remove the original vehicle model clamp: The switching fixed clamping robot (4) drives the pressure plate clamp (1) to the pressing mold clamp (2). The first detection switch (1-10) and the fourth detection switch (2-9) recognize the position signal and provide signal feedback. The upper and lower plates of the switching disk disengage. After the switching fixed clamping robot (4) returns to the waiting position, it provides feedback signal. The sliding base plate (3-1) moves to the loading position. At this time, the entire clamping mechanism is removed from the sliding base plate (3-1). S7, New Model Fixture Entry: The new model overall fixture mechanism is installed on the sliding base plate (3-1), and then the model data is identified and judged. After the signal data matches, the model switching initialization command request takes effect. The sliding base plate (3-1) drives the new model overall clamping mechanism into the working position. After receiving the feedback signal, the switching fixed clamping robot (4) performs trajectory movement to lock the upper and lower switching disks together. The switching fixed clamping robot (4) drives the pressure plate clamp (1) to return to its position and then returns to execute steps S1~S4.

9. The method for rolling and pressing inner and outer door panels according to claim 8, characterized in that, In step S3, the outer panel is rolled and folded 3 times, and the pressing time for the partial fold is 3 seconds.

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