Vehicle door robot automatic edge covering work station and method

Abstract

The invention relates to the technical field of vehicle door edge covering, in particular to a vehicle door robot automatic edge covering workstation which comprises a robot, a carrying gripper, an edge rolling device and an edge covering clamp, a plurality of cylindrical male heads are arranged on the surface of a disc changing gun male head device of the robot, and the surface of each cylindrical male head is rotationally connected with two regular quadrangular prism male heads; the bottom face of each regular quadrangular prism male head is rotationally connected with the top circle of the cylindrical male head through a rotating shaft, a plurality of cylindrical female head holes are formed in the surfaces of the carrying gripper and the gun replacing disc female head device of the edge rolling device, and a regular quadrangular prism groove and a limiting sliding device are arranged in the gun replacing disc female head device. The cylindrical male head and the regular quadrangular prism male head are arranged on the disc replacing gun male head device, and the regular quadrangular prism groove and the cylindrical female head hole are formed in the gun replacing disc female head device, so that the convenience of the robot in automatically switching the carrying gripper and the edge rolling device and the stability of the carrying gripper and the edge rolling device embedded in the mechanical arm are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle door hemming, and in particular to a vehicle door robot automated hemming workstation and method. Background Art

[0002] Cars are widely used in daily family life, and people's pursuit of car aesthetics is gradually increasing, and the demand for the aesthetics of car door design is also gradually increasing. Therefore, car door hemming technology is widely used, but manual hemming not only requires a lot of manpower costs, but also has safety hazards. Robots use automation technology to hem car doors, which can effectively improve the efficiency of hemming. At present, the technology of automatic recognition and hemming of car doors by robots has matured. However, the existing automated hemming technology needs to improve the convenience of the robot in automatically switching the handling gripper and the hemming device, as well as the stability of the handling gripper and the hemming device embedded in the robotic arm.

[0003] In view of this, we propose a car door robot automated hemming workstation and method to solve the existing problems. Summary of the invention

[0004] The object of the present invention is to provide a vehicle door robot automated hemming workstation and method to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a car door robot automated hemming workstation, comprising a safety fence, a robot, a handling gripper, a hemming device, an hemming fixture, a loading platform, and a gluing gun. The robot, the handling gripper, the hemming device, the hemming fixture, the loading platform, and the gluing gun are all arranged on the inner side of the safety fence. A disk-changing gun male head device is arranged on the top of the robot's mechanical arm. A plurality of cylindrical male heads which are parallel to each other and have the same size are arranged on the surface of the disk-changing gun male head device. The bottom surface of the cylindrical male head is fixedly fitted with the surface of the disk-changing gun male head device. Two regular quadrangular prism male heads of the same size are arranged on the top circular surface of each cylindrical male head. The bottom surface of each regular quadrangular prism male head It is rotationally connected to the top circle of the cylindrical male head through a rotation axis, the distances from the straight lines where the rotation axes corresponding to the bottoms of the two regular quadrangular prism male heads are located to the center of the top circle of the cylindrical male head are consistent, the rotation axes corresponding to the bottoms of the two regular quadrangular prism male heads are parallel to each other and are both perpendicular to the height of the cylindrical male head, the side surfaces of the two regular quadrangular prism male heads before rotation are perpendicular to the bottom surface of the cylindrical male head and the bottom surfaces of the two regular quadrangular prism male heads before rotation are both inside the top circumference of the cylindrical male head, after the two regular quadrangular prism male heads are rotated 90° toward the outside of the top circle of the cylindrical male head, the two regular quadrangular prism male heads are collinear with each other and are both perpendicular to the height of the cylindrical male head, and one of the side surfaces of the two regular quadrangular prism male heads is in close contact with the top circle of the cylindrical male head.

[0006] Furthermore, a gun-changing disc female head device is provided at the bottom of the carrying gripper and the rolling device, and a surface of the gun-changing disc female head device is provided with a plurality of cylindrical female head holes which are parallel to each other and of the same size, and the cylindrical female head holes are of the same size as the cylindrical male head, and each cylindrical female head hole is vertically bisected and connected to a regular quadrangular prism groove inside the gun-changing disc female head device, and the side length of the bottom surface of the regular quadrangular prism groove is consistent with the side length of the bottom surface of the regular quadrangular prism male head, and the height of the regular quadrangular prism groove is consistent with the distance between the outermost bottom surfaces of the two regular quadrangular prism male heads after rotating 90° and is greater than the diameter of the bottom surface of the cylindrical male head, and a limiting sliding device is provided inside the gun-changing disc female head device.

[0007] Furthermore, a first hemming head, a second hemming head and a third hemming head are provided on the top of the hemming device, and the bottoms of the first hemming head, the second hemming head and the third hemming head are connected to the top of a guide rod provided inside the hemming device, a spring is provided at the bottom of the guide rod, and a bushing is provided on the side wall of the guide rod.

[0008] Furthermore, the hemming fixture includes a BASE component, and the surface of the BASE component is provided with a positioning pin component, a clamping cylinder, an hemming support panel, an air circuit control component, and an electrical control box.

[0009] Furthermore, a carrying gripper placement rack and a hemming device placement rack are provided inside the safety fence.

[0010] Furthermore, a HMI human-machine interface is provided on the surface of the safety fence.

[0011] Furthermore, a robot control cabinet is provided outside the safety fence.

[0012] Furthermore, the loading platform is set up at an inner position close to the safety fence, and the safety fence is provided with a safety door close to the loading platform.

[0013] Furthermore, the hemming clamp is set up at an inner position close to the safety fence, and the safety fence is provided with a safety door close to the hemming clamp.

[0014] A method for automated hemming of a vehicle door by a robot, wherein if a mechanical gripper is placed on the upper surface of a handling gripper placement rack and a hemming device is placed on the upper surface of a hemming device placement rack, the steps are:

[0015] S1: The operator places the inner panel of the car door on the upper surface of the loading table, and places the outer panel of the car door on the upper surface of the hemming fixture;

[0016] S2: After system recognition, the robot inserts and fixes the male head device of the plate changing gun with the female head device of the plate changing gun of the handling gripper;

[0017] S3: The robot grabs the inner plate to the location of the glue gun through the handling gripper for automatic glue application, and then places the inner plate on the upper surface of the hemming fixture, and the hemming fixture automatically positions and clamps the inner and outer plates;

[0018] S4: The robot places the transport gripper on the upper surface of the transport gripper placement rack, and the male head device of the robot's plate changing gun is separated from the female head device of the plate changing gun of the transport gripper;

[0019] S5: The robot engages and fixes the male head device of the plate changing gun with the female head device of the plate changing gun of the hemming device;

[0020] S6: The robot automatically moves the hemming device to the hemming fixture station to automatically hem the inner and outer panels;

[0021] S7: The robot places the hemming device on the upper surface of the hemming device placement rack, and the male head device of the robot's plate changing gun is separated from the female head device of the plate changing gun of the hemming device;

[0022] In S2 or S5, the cylindrical male head is embedded in the hole of the cylindrical female head, and the two regular square prism male heads are rotated 90 degrees to the outside of the top circle of the cylindrical male head and then embedded in the regular square prism groove, and the limit sliding device slides to a position that fits the side surfaces of the two regular square prism male heads and is fixed;

[0023] In S3, the inner and outer panel workpieces are placed on the upper surface of the hemming support panel, positioned by the positioning pin assembly, and clamped by the clamping cylinder;

[0024] In S4 or S7, the limit sliding device is away from the position where the two regular square prism male heads are located and fixed, and the two regular square prism male heads are rotated 90 degrees toward the inner side of the top circle of the cylindrical male head;

[0025] In S6, when the hemming device is performing hemming work, it approaches the position of the clamping cylinder, and the clamping cylinder automatically opens to avoid it.

[0026] Compared with the prior art, the present invention has the following beneficial effects:

[0027] The present invention realizes the firm engagement of the robot with the transport gripper and the hemming device by setting up two regular quadrangular prism male heads on the surface of the cylindrical male head of the disc changing gun male head device and setting up regular quadrangular prism grooves and cylindrical female head holes inside the gun disc changing female head device, and realizes the convenient insertion and separation of the robot with the transport gripper and the hemming device through the rotation function of the two regular quadrangular prism male heads, thereby improving the convenience of the robot in automatically switching the transport gripper and the hemming device and the stability of the transport gripper and the hemming device embedded in the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the three-dimensional structure of the hemming device of the present invention;

[0030] Figure 3 It is a schematic cross-sectional structure diagram of the hemming device of the present invention;

[0031] Figure 4 It is a schematic diagram of the three-dimensional structure of the hemming fixture of the present invention;

[0032] Figure 5 It is a front plan view structural diagram of the male head device of the disc changing gun of the present invention;

[0033] Figure 6 It is a schematic diagram of the top plan structure of the male head device of the disc changing gun of the present invention;

[0034] Figure 7 It is a front plan view structural diagram of the gun disc female head device of the present invention;

[0035] Figure 8 It is a schematic diagram of the top plan structure of the gun disc female head device of the present invention;

[0036] Fig. 9 It is a schematic diagram of the planar structure of the present invention after the cylindrical male head is engaged with the cylindrical female head hole and before the regular quadrangular prism male head is engaged with the regular quadrangular prism groove;

[0037] Fig.10 It is a schematic diagram of the planar structure of the position-limiting sliding device before sliding after the regular quadrangular prism male head of the present invention is engaged with the regular quadrangular prism groove;

[0038] Fig.11 It is a schematic diagram of the planar structure after the regular quadrangular prism male head of the present invention is engaged with the regular quadrangular prism groove and the limiting sliding device slides.

[0039] In the figure: 1. Safety fence; 101. Carrying gripper placement rack; 102. Hemming device placement rack; 103. HMI human-machine interface; 104. Robot control cabinet; 105. Safety door; 2. Robot; 201. Plate changing gun male head device; 202. Cylindrical male head; 203. Square prism male head; 204. Rotating axis; 3. Carrying gripper; 4. Hemming device; 401. First hemming head; 402. Second hemming head; 403. Third hemming head ; 404, guide rod; 405, spring; 406, bushing; 5, hemming fixture; 501, BASE assembly; 502, positioning pin assembly; 503, clamping cylinder; 504, hemming support panel; 505, air circuit control assembly; 506, electrical control box; 6, loading table; 7, glue gun; 8, gun plate female head device; 801, cylindrical female head hole; 802, regular quadrangular prism groove; 803, limit sliding device; 9, workpiece to be hemmed. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0041] Embodiment 1

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 As shown, a car door robot automated hemming workstation includes a safety fence 1, a robot 2, a handling gripper 3, a hemming device 4, a hemming fixture 5, a loading platform 6, and a gluing gun 7. The robot 2, the handling gripper 3, the hemming device 4, the hemming fixture 5, the loading platform 6, and the gluing gun 7 are all set up on the inner side of the safety fence 1. A disk-changing gun male head device 201 is provided on the top of the robot arm of the robot 2. A plurality of cylindrical male heads 202 that are parallel to each other and have the same size are provided on the surface of the disk-changing gun male head device 201. The bottom surface of the cylindrical male head 202 is fixedly fitted with the surface of the disk-changing gun male head device 201. Two regular quadrangular prism male heads 203 with the same size are provided on the top circular surface of each cylindrical male head 202. The bottom surface of each regular quadrangular prism male head 203 is connected to the top circular surface of the cylindrical male head 202 by rotating The shaft 204 is rotatably connected, and the distance from the straight line where the rotation axis 204 corresponding to the bottom of the two regular tetrahedral male heads 203 is located to the top center of the cylindrical male head 202 is consistent. The rotation axes 204 corresponding to the bottom of the two regular tetrahedral male heads 203 are parallel to each other and are both perpendicular to the height of the cylindrical male head 202. The side surfaces of the two regular tetrahedral male heads 203 before rotation are perpendicular to the bottom surface of the cylindrical male head 202, and the bottom surfaces of the two regular tetrahedral male heads 203 before rotation are both inside the top circumference of the cylindrical male head 202. After the two regular tetrahedral male heads 203 rotate 90° toward the outside of the top circle of the cylindrical male head 202, the two regular tetrahedral male heads 203 are collinear with each other and are both perpendicular to the height of the cylindrical male head 202, and one of the side surfaces of the two regular tetrahedral male heads 203 is in close contact with the top circle of the cylindrical male head 202.

[0043] Furthermore, the bottom of the handling gripper 3 and the hemming device 4 are both provided with a gun-changing disc female head device 8, and the surface of the gun-changing disc female head device 8 is provided with a plurality of cylindrical female head holes 801 which are parallel to each other and have the same size. The cylindrical female head hole 801 has the same size as the cylindrical male head 202, so that the cylindrical female head hole 801 and the cylindrical male head 202 can be embedded. Each cylindrical female head hole 801 is vertically bisected and connected to a regular quadrangular prism groove 802 inside the gun-changing disc female head device 8. The side length of the bottom surface of 802 is consistent with the side length of the bottom surface of the regular quadrangular prism male head 203, so that the regular quadrangular prism groove 802 and the regular quadrangular prism male head 203 can be embedded. The height of the regular quadrangular prism groove 802 is consistent with the distance between the outermost bottom surfaces of the two regular quadrangular prism male heads 203 after rotating 90° and is greater than the diameter of the bottom surface of the cylindrical male head 202. A limiting sliding device 803 is provided inside the gun-changing disc female head device 8 to enhance the stability of the embedding between the gun-changing disc female head device 8 and the disc-changing gun male head device 201.

[0044] Furthermore, a first hemming head 401, a second hemming head 402, and a third hemming head 403 are provided at the top of the hemming device 4, and the bottoms of the first hemming head 401, the second hemming head 402, and the third hemming head 403 are connected to the top of a guide rod 404 provided inside the hemming device 4, a spring 405 is provided at the bottom of the guide rod 404, and a bushing 406 is provided on the side wall of the guide rod.

[0045] Furthermore, the hemming fixture 5 includes a BASE component 501 , and a positioning pin component 502 , a clamping cylinder 503 , an hemming support panel 504 , an air circuit control component 505 , and an electrical control box 506 are provided on the surface of the BASE component 501 .

[0046] Furthermore, a carrying gripper placement rack 101 and a hemming device placement rack 102 are provided inside the safety fence 1 .

[0047] Furthermore, an HMI human-machine interface 103 is provided on the surface of the safety fence 1 to facilitate operation by the staff.

[0048] Furthermore, a robot control cabinet 104 is provided on the outside of the safety fence 101 to facilitate operation by the staff.

[0049] Furthermore, the loading platform 6 is set up at an inner position close to the safety fence 101, and the safety fence 101 is provided with a safety door 105 close to the loading platform 6 to facilitate the staff to place the inner panel of the car door on the upper surface of the loading platform 6.

[0050] Furthermore, the hemming fixture 5 is set up at an inner position close to the safety fence 101 , and the safety fence 101 sets a safety door 105 close to the hemming fixture 5 , so that the staff can place the outer panel of the car door on the upper surface of the hemming fixture 5 conveniently.

[0051] The working principle of the door robot automated hemming workstation based on the first embodiment is:

[0052] If the mechanical gripper 3 is placed on the upper surface of the transport gripper placement rack 101 and the hemming device 4 is placed on the upper surface of the hemming device placement rack 102, the steps are as follows:

[0053] S1: The operator places the inner panel of the car door on the upper surface of the loading platform 6, and places the outer panel of the car door on the upper surface of the hemming fixture 5;

[0054] S2: After system recognition, the robot 2 engages and fixes the male head device 201 of the plate-changing gun with the female head device 8 of the transport gripper 3;

[0055] S3: The robot 2 grabs the inner plate to the position of the glue gun 7 through the carrying gripper 3 to perform automatic glue coating, and then places the inner plate on the upper surface of the hemming fixture 5, and the hemming fixture 5 automatically positions and clamps the inner and outer plates;

[0056] S4: the robot 2 places the transport gripper 3 on the upper surface of the transport gripper placement rack 101, and the male head device 201 of the disk changing gun of the robot 2 is separated from the female head device 8 of the transport gripper 3;

[0057] S5: The robot 2 fits and fixes the male head device 201 of the plate changing gun with the female head device 8 of the hemming device 4;

[0058] S6: The robot 2 automatically moves the hemming device 4 to the station of the hemming fixture 5 to automatically hem the inner and outer panels;

[0059] S7: the robot 2 places the hemming device 4 on the upper surface of the hemming device placement rack 102, and the male head device 201 of the robot 2 is separated from the female head device 8 of the hemming device 4;

[0060] In S2 or S5, the cylindrical male head 202 is embedded in the cylindrical female head hole 801, and the two regular quadrangular prism male heads 203 are rotated 90° to the outside of the top circle of the cylindrical male head 202 and then embedded in the regular quadrangular prism groove 802, and the limiting sliding device 803 slides to a position that fits the side surfaces of the two regular quadrangular prism male heads 203 and is fixed;

[0061] In S3, the inner and outer plate workpieces are placed on the upper surface of the hemming support panel 504, positioned by the positioning pin assembly 502, and clamped by the clamping cylinder 503;

[0062] In S4 or S7, the limiting sliding device 803 is moved away from the position where the two regular quadrangular prism male heads 203 are located and fixed, and the two regular quadrangular prism male heads 203 are rotated 90° toward the inner side of the top circle of the cylindrical male head 202;

[0063] In S6, when the hemming device 4 is performing the hemming work, it approaches the position of the clamping cylinder 503, and the clamping cylinder 503 automatically opens to avoid it. In addition, the guide rod 404 realizes a small upward and downward sliding stroke through the bushing 406. At the same time, the spring 405 at the bottom removes the excess hemming pressure to achieve hemming stability.

[0064] Furthermore, the rotation of the regular tetrahedral prism male head 203 is achieved through the corresponding external shaft motor, RV reducer and the structural form of the rotating shaft 204, and the sliding of the limiting sliding device 803 is achieved through the corresponding external shaft motor, planetary reducer, gear rack and guide rail structural form.

[0065] The above-mentioned specific embodiments are only several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant inspirations of the above-mentioned embodiments, those skilled in the art can make various alternative improvements and combinations to the above-mentioned specific embodiments.

Claims

1. A robot-automated door hemming workstation, comprising a safety fence (1), a robot (2), a handling gripper (3), a hemming device (4), an hemming fixture (5), a loading platform (6), and a glue gun (7), characterized in that: The robot (2), the handling gripper (3), the hemming device (4), the hemming fixture (5), the loading platform (6), and the glue gun (7) are all arranged on the inner side of the safety fence (1). The top of the robot arm of the robot (2) is provided with a disk-changing gun male head device (201). The surface of the disk-changing gun male head device (201) is provided with a plurality of cylindrical male heads (202) which are parallel to each other and have the same size. The bottom surface of the cylindrical male head (202) is fixedly fitted with the surface of the disk-changing gun male head device (201). The top circular surface of each cylindrical male head (202) is provided with two regular quadrangular prism male heads (203) with the same size. The bottom surface of each regular quadrangular prism male head (203) is rotatably connected with the top circular surface of the cylindrical male head (202) via a rotating shaft (204). The corresponding rotating shafts at the bottoms of the two regular quadrangular prism male heads (203) are connected to the top circular surface of the cylindrical male head (202). The distance from the straight line where the rotation axis (204) is located to the top center of the cylindrical male head (202) is consistent, the rotation axes (204) corresponding to the bottoms of the two regular quadrangular prism male heads (203) are parallel to each other and are both perpendicular to the height of the cylindrical male head (202), the side surfaces of the two regular quadrangular prism male heads (203) before rotation are perpendicular to the bottom surface of the cylindrical male head (202), and the bottom surfaces of the two regular quadrangular prism male heads (203) before rotation are both inside the top circumference of the cylindrical male head (202), after the two regular quadrangular prism male heads (203) rotate 90° toward the outside of the top circle of the cylindrical male head (202), the two regular quadrangular prism male heads (203) are collinear with each other and are both perpendicular to the height of the cylindrical male head (202), and one of the side surfaces of the two regular quadrangular prism male heads (203) is in close contact with the top circle of the cylindrical male head (202).

2. The door robot automated hemming workstation according to claim 1, characterized in that: The bottom of the handling gripper (3) and the rolling device (4) are both provided with a gun-changing disc female head device (8). The surface of the gun-changing disc female head device (8) is provided with a plurality of cylindrical female head holes (801) which are parallel to each other and have the same size. The cylindrical female head hole (801) has the same size as the cylindrical male head (202). Each cylindrical female head hole (801) is vertically bisected and connected to a regular quadrangular prism groove (802) inside the gun-changing disc female head device (8). The bottom side length of the regular quadrangular prism groove (802) is consistent with the bottom side length of the regular quadrangular prism male head (203). The height of the regular quadrangular prism groove (802) is consistent with the distance between the outermost bottom surfaces of the two regular quadrangular prism male heads (203) after rotating 90 degrees and is greater than the diameter of the bottom surface of the cylindrical male head (202). A limit sliding device (803) is provided inside the gun-changing disc female head device (8).

3. The door robot automated hemming workstation according to claim 1, characterized in that: A first hemming head (401), a second hemming head (402), and a third hemming head (403) are provided at the top of the hemming device (4); the bottoms of the first hemming head (401), the second hemming head (402), and the third hemming head (403) are connected to the top of a guide rod (404) provided inside the hemming device (4); a spring (405) is provided at the bottom of the guide rod (404); and a bushing (406) is provided on the side wall of the guide rod.

4. The door robot automated hemming workstation according to claim 1, characterized in that: The hemming fixture (5) comprises a BASE component (501), and a positioning pin component (502), a clamping cylinder (503), an hemming support panel (504), an air circuit control component (505), and an electrical control box (506) are arranged on the surface of the BASE component (501).

5. The door robot automated hemming workstation according to claim 1, characterized in that: A carrying gripper placement rack (101) and a hemming device placement rack (102) are provided inside the safety fence (1).

6. The door robot automated hemming workstation according to claim 1, characterized in that: An HMI human-machine interface (103) is provided on the surface of the safety fence (1).

7. The door robot automated hemming workstation according to claim 1, characterized in that: A robot control cabinet (104) is provided outside the safety fence (101).

8. The door robot automated hemming workstation according to claim 1, characterized in that: The loading platform (6) is set up at an inner side position close to the safety fence (101), and the safety fence (101) is set up with a safety door (105) close to the loading platform (6).

9. The door robot automated hemming workstation according to claim 1, characterized in that: The edge binding clamp (5) is set up at an inner side position close to the safety fence (101), and the safety fence (101) is provided with a safety door (105) close to the edge binding clamp (5).

10. A method for automated hemming of a vehicle door by a robot, implemented on a vehicle door automated hemming workstation according to any one of claims 1 to 9, characterized in that: If the mechanical gripper (3) is placed on the upper surface of the transport gripper placement rack (101) and the hemming device (4) is placed on the upper surface of the hemming device placement rack (102), the steps are as follows: S1: An operator places an inner panel of a vehicle door on the upper surface of a loading platform (6), and places an outer panel of the vehicle door on the upper surface of a hemming fixture (5); S2: After system recognition, the robot (2) engages and fixes the male head device (201) of the plate-changing gun and the female head device (8) of the plate-changing gun of the transport gripper (3); S3: The robot (2) grabs the inner plate to the position of the glue gun (7) through the carrying gripper (3) to perform automatic glue application, and then places the inner plate on the upper surface of the edge wrapping fixture (5), and the edge wrapping fixture (5) automatically positions and clamps the inner and outer plates; S4: the robot (2) places the transport gripper (3) on the upper surface of the transport gripper placement frame (101), and the male head device (201) of the disk changing gun of the robot (2) is separated from the female head device (8) of the disk changing gun of the transport gripper (3); S5: The robot (2) engages and fixes the male head device (201) of the plate changing gun with the female head device (8) of the hemming device (4); S6: The robot (2) automatically moves the hemming device (4) to the working position of the hemming fixture (5) to automatically hem the inner and outer panels; S7: the robot (2) places the hemming device (4) on the upper surface of the hemming device placement rack (102), and the male head device (201) of the plate changing gun of the robot (2) is separated from the female head device (8) of the plate changing gun of the hemming device (4); In S2 or S5, the cylindrical male head (202) is embedded in the cylindrical female head hole (801), the two regular quadrangular prism male heads (203) are rotated 90° to the outside of the top circle of the cylindrical male head (202) and then embedded in the regular quadrangular prism groove (802), and the limiting sliding device (803) slides to a position that fits the side surfaces of the two regular quadrangular prism male heads (203) and is fixed; In S3, the inner and outer plate workpieces are placed on the upper surface of the hemming support panel (504), positioned by the positioning pin assembly (502), and clamped by the clamping cylinder (503); In S4 or S7, the limiting sliding device (803) is moved away from the position where the two regular quadrangular prism male heads (203) are located and fixed, and the two regular quadrangular prism male heads (203) are rotated 90° toward the inner side of the top circle of the cylindrical male head (202); In S6, the hemming device (4) approaches the position where the clamping cylinder (503) is located when performing the hemming operation, and the clamping cylinder (503) automatically opens to avoid the position.

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