A robotic hemming device for automobile doors

Abstract

The present invention discloses a robotic hemming device for automobile doors, relating to the technical field of automobile door hemming devices. The robotic hemming device for automobile doors includes an extension column, which is arranged on a gun-changing plate via a connecting flange. The extension column includes an oil storage section, and a first storage space is defined within the oil storage section. The first storage space is filled with oil. A connecting assembly includes an adjustment assembly, which is movably arranged within the oil storage section along the inner wall of the first storage space. The adjustment assembly is used to separate the first storage space into a first space and a second space, and the oil is located in the first space. When the roller passes through various special shapes such as the convex and concave edges of the door frame, the depth of the adjustment assembly inserted into the first storage space is different, thereby providing a buffering force for the collision between the roller and the door frame, while maintaining the extrusion force of the roller on the door frame. As a result, the robotic hemming device improves the quality of automobile door hemming.

Description

Technical Field

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

[0002] During the actual vehicle production process, the vehicle body requires hemming. Hemming is a type of hemming process, and the hemming equipment is used to fold and roll the outer sheet metal, wrapping the inner sheet metal for assembly. When hemming parts of the vehicle body, such as doors, hoods, fenders, and sunroofs, a hemming head is typically used to apply hemming pressure to the pre-hemmed area. This pressure causes the pre-hemmed area to deform, forming the hemming structure.

[0003] In the existing rolling hemming process for automobile doors, a hemming head is mounted on a robot to achieve automated hemming. The robot's motion trajectory is controlled to drive the hemming head along the door frame. The rollers on the hemming head roll along the door frame and apply pressure to the door frame to achieve the hemming. However, during the hemming process, if the door frame has various irregular shapes such as convex or concave edges, although the robot will drive the rollers to move as close to the irregular shape as possible, the rollers will still collide with the door frame, causing wear on the rollers, deviations in the hemming accuracy, and even deformation of the door frame, rendering the entire product scrapped. This reduces the quality of the door hemming. Summary of the Invention

[0004] In view of the defects in the prior art, the present invention solves the technical problem of how to improve the quality of automobile door rolling.

[0005] To achieve the above objectives, the present invention provides a robot hemming device for automobile doors, comprising a robot, a gun changing plate, and a hemming head. The hemming head is arranged on the robot through the gun changing plate, and the hemming head comprises:

[0006] An extension column is arranged on the gun changing plate through a connecting flange, and the extension column includes an oil storage section, a first storage space is defined inside the oil storage section, and the first storage space is filled with oil;

[0007] A connecting assembly is movably arranged at one end of the extension column away from the connecting flange through a transition block. A plurality of rollers are provided on the connecting assembly. The connecting assembly includes an adjusting assembly. The adjusting assembly is movably arranged inside the oil storage section along the inner wall of the first storage space. The adjusting assembly is used to separate the first storage space into a first space and a second space. The oil is located in the first space to achieve a change in the hydraulic pressure inside the first space.

[0008] By adopting the above technical solution, when the roller passes through various special shapes such as the convex edge and concave edge of the door frame, relative movement can occur between the connecting component and the extension column. Therefore, the up and down movement of the roller will drive the up and down movement of the connecting component, so that the depth of the adjustment component inserted into the first storage space is different. The deeper the insertion depth, the greater the hydraulic pressure in the first space, and thus the greater the reverse thrust on the adjustment component, thereby providing a buffering force for the collision between the roller and the door frame, while maintaining the extrusion pressure of the roller on the door frame, so that the robot rolling equipment improves the quality of the automobile door rolling.

[0009] In one embodiment, the connecting assembly further comprises a connecting post, an end of the adjusting assembly away from the first space is fixedly connected to the connecting post, and a plurality of rollers are provided on the periphery of the connecting post.

[0010] By adopting the above technical solution, the connecting column is fixedly connected to the roller, so that the movement of the roller drives the movement of the adjustment component, thereby ensuring the stability of the movement between the structures.

[0011] In one embodiment, the adjustment component is a first piston, and the first piston is movably disposed inside the first storage space along the inner wall of the first storage space.

[0012] By adopting the above technical solution, the first piston can divide the first storage space and move along the inner wall of the first storage space to change the hydraulic pressure inside the first space.

[0013] In one embodiment, the regulating assembly is an overflow valve, which includes a first piston, a fixed seat, a rebound assembly and a valve ball. The first piston is movably arranged inside the first storage space along the inner wall of the first storage space. The first piston is provided with a placement groove along its moving direction. The fixed seat, the rebound assembly and the valve ball are all located inside the placement groove. A second storage space is opened inside the connecting column. One end of the placement groove is connected to the first space, and the other end of the placement groove is connected to the second storage space, so that the fixed seat, the rebound assembly and the valve ball can control the connection and isolation between the first space and the second storage space.

[0014] By adopting the above technical solution, when the roller's fluctuation degree or fluctuation rate is large, the first piston moves too far in the first storage space, or the first piston moves too fast in the first storage space, resulting in a sudden increase in the hydraulic pressure in the first space. Therefore, the pressure generated by the oil inside the first space is too high, causing damage to the internal structure. Therefore, the above structure is designed so that when the hydraulic pressure exceeds the threshold, the oil in the first space will flow into the interior of the second storage space, thereby avoiding excessive hydraulic pressure in the first space.

[0015] In one embodiment, the placement groove includes a movable groove and a clamping groove, one end of the clamping groove is connected to the first space, and the other end of the clamping groove is connected to the movable groove, the fixed seat is fixed to one end of the movable groove close to the second storage space, and an opening is provided on the fixed seat to realize the connection between the movable groove and the second storage space; the rebound component is arranged inside the movable groove, one end of the rebound component is against the fixed seat, and the other end of the rebound component is against the valve ball to realize the clamping and separation of the valve ball and the clamping groove.

[0016] By adopting the above technical solution, the installation of the structure in the groove is facilitated. At the same time, the connection between the valve ball and the connecting groove can not only directly close and open the communication channel between the first space and the second storage space, but also reduce the internal structure of the overflow valve.

[0017] In one embodiment, the fixing seat is connected to the movable groove via threads, so that the fixing seat can be movably arranged inside the movable groove.

[0018] By adopting the above technical solution, the installation of the fixing seat is facilitated. At the same time, the initial compression degree of the rebound component can be changed according to the movement of the fixing seat on the movable groove, thereby changing the threshold value of the overflow valve opening.

[0019] In one embodiment, a scraper and a sealing ring are provided between the outer wall of the first piston and the inner wall of the first storage space. The scraper is sleeved on the first piston, and the sealing ring is sleeved on the first piston.

[0020] By adopting the above technical solution, in order to prevent the oil in the first space from entering the second space, when the first piston moves, the scraper is used to scrape off the oil remaining on the inner wall of the first storage space. At the same time, the sealing between the first space and the second space is improved by the sealing ring, thereby further preventing the oil in the first space from entering the second space.

[0021] In one embodiment, the roller is arranged on the connecting column through a connecting member, the connecting member includes a connecting rod, a connecting seat and an axle, one end of the connecting rod is provided with a roller through the axle, the other end of the connecting rod is located inside the second storage space, the connecting seat is fixed on the connecting column, and the connecting rod is movably arranged on the connecting seat.

[0022] By adopting the above technical solution, when the roller exerts pressure on the door frame perpendicular to the connecting component, the ups and downs of the roller will drive the connecting rod to move, so as to change the length of the connecting rod inserted into the second storage space. The longer the insertion length, the larger the volume of the second storage space occupied, thereby increasing the hydraulic pressure inside the second storage space, thereby providing a horizontal buffering force for the collision between the roller and the door frame, while maintaining the horizontal extrusion force of the roller on the door frame, thereby further improving the quality of the automobile door rolling edge.

[0023] In one embodiment, a second piston is fixedly sleeved on one end of the connecting rod located inside the second storage space. The second storage space is a cylinder. The second piston is movably arranged inside the second storage space along the inner wall of the second storage space. The second piston is used to separate the second storage space into a third space and a fourth space. The oil is located inside the third space.

[0024] By adopting the above technical solution, the second piston moves along the inner wall of the second storage space and divides the second storage space into a third space and a fourth space. The oil is located inside the third space. The above design can improve the efficiency of hydraulic changes. At the same time, the oil inside the third space is pressed to the placement groove due to the hydraulic pressure and squeezes the valve ball. However, at this time, the valve ball and the clamping groove will only become tighter and tighter, thereby pushing the first piston to move upward, thereby increasing the hydraulic pressure in the first space, thereby resisting the hydraulic pressure in the third space, and buffering the horizontal pressure through the horizontal and vertical buffering forces at the same time, thereby further improving the buffering force effect.

[0025] In one embodiment, a scraper and a sealing ring are provided between the outer wall of the second piston and the inner wall of the second storage space. The scraper is sleeved on the second piston, and the sealing ring is sleeved on the second piston.

[0026] By adopting the above technical solution, in order to prevent the oil in the third space from entering the fourth space, when the second piston moves, the scraper is used to scrape off the oil remaining on the inner wall of the second storage space. At the same time, the sealing between the third space and the fourth space is improved by the sealing ring, thereby further preventing the oil in the third space from entering the fourth space.

[0027] In summary, the present invention includes at least one of the following beneficial technical effects:

[0028] 1. By opening a first storage space inside the extension column and arranging an adjustment component on the connecting component, the adjustment component divides the first storage space into a first space and a second space and can change the volume of the first space. When the roller passes through various special shapes such as the convex and concave edges of the door frame, the connecting component and the extension column can move relative to each other. Therefore, the up and down movement of the roller will drive the up and down movement of the connecting component, so that the depth of the adjustment component inserted into the first storage space varies. The deeper the insertion depth, the greater the hydraulic pressure in the first space, and thus the greater the reverse thrust on the adjustment component, thereby providing a buffer force for the collision between the roller and the door frame, while maintaining the extrusion force of the roller on the door frame. Therefore, the robot hemming equipment improves the quality of automobile door hemming.

[0029] 2. The regulating component is designed as a relief valve. Through the design of the relief valve, when the roller fluctuates greatly or at a high rate, the first piston moves too far in the first storage space, or the first piston moves too fast in the first storage space, causing the hydraulic pressure in the first space to suddenly increase. As a result, the pressure generated by the oil in the first space is too high, causing damage to the internal structure. Therefore, the above structure is designed so that when the hydraulic pressure exceeds the threshold, the oil in the first space will flow into the second storage space, thereby preventing the hydraulic pressure in the first space from being too high.

[0030] 3. By opening a second storage space in the connecting column and dividing the second storage space into a third space and a fourth space through a second piston, the efficiency of hydraulic changes is improved. At the same time, the oil inside the third space is pressed to the placement groove due to the hydraulic pressure and squeezes the valve ball. However, at this time, the valve ball and the clamping groove will only become tighter and tighter, thereby pushing the first piston to move upward, thereby increasing the hydraulic pressure in the first space, thereby resisting the hydraulic pressure in the third space, and buffering the horizontal pressure through the horizontal and vertical buffering forces at the same time, thereby further improving the buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic structural diagram of a robotic hemming device for automobile doors according to an embodiment of the present invention;

[0032] Figure 2 for Figure 1 sectional view of

[0033] Figure 3 for Figure 2 Magnified view of part A.

[0034] In the figure: 1-connecting flange, 2-extension column, 201-oil storage section, 202-first storage space, 203-first space, 204-second space, 3-transition block, 4-connecting assembly, 401-connecting column, 402-second storage space, 403-third space, 404-fourth space, 405-first piston, 406-placing groove, 407-clamping groove, 408-movable groove, 409-ball valve, 4010-rebound assembly, 4011-fixed seat, 4012-opening, 5-roller, 6-zero point pointer, 7-connecting piece, 701-shaft body, 702-connecting rod, 703-connecting seat, 704-second piston, 8-scraper, 9-sealing ring, 10-mounting column. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.

[0036] The robot hemming device for automobile doors in the embodiment of the present invention is shown in FIG. Figure 1 、 2As shown, the robotic hemming equipment for automobile doors includes a robot, a gun changing disk and a hemming head, the hemming head is set on the robot through the gun changing disk, the hemming head includes an extension column 2, which is set on the gun changing disk through a connecting flange 1, the extension column 2 includes an oil storage section 201, the interior of the oil storage section 201 is provided with a first storage space 202, the interior of the first storage space 202 is filled with oil; a connecting component 4, which is movably set at the end of the extension column 2 away from the connecting flange 1 through a transition block 3, a plurality of rollers 5 are provided on the connecting component 4, the connecting component 4 includes an adjusting component, the adjusting component is movably set inside the oil storage section 201 along the inner wall of the first storage space 202, the adjusting component is used to separate the first storage space 202 into a first space 203 and a second space 204, the oil is located in the first space 203, so as to realize the change of the hydraulic pressure inside the first space 203.

[0037] It can be seen that the present invention opens a first storage space 202 inside the extension column 2 and arranges an adjustment component on the connecting component 4. The adjustment component divides the first storage space 202 into a first space 203 and a second space 204, and can change the volume of the first space 203. When the roller 5 passes through various special shapes such as the convex edge and concave edge of the door frame, relative movement can occur between the connecting component 4 and the extension column 2. Therefore, the up and down movement of the roller 5 will drive the up and down movement of the connecting component 4, so that the depth of the adjustment component inserted into the first storage space 202 is different. The deeper the insertion depth, the greater the hydraulic pressure in the first space 203, and thus the greater the reverse thrust on the adjustment component, thereby providing a buffering force for the collision between the roller 5 and the door frame, while maintaining the extrusion pressure of the roller 5 on the door frame, so that the robot rolling equipment improves the quality of the automobile door rolling.

[0038] Preferably, see Figure 2 As shown, the connecting component 4 further includes a connecting column 401 , and one end of the adjusting component away from the first space 203 is fixedly connected to the connecting column 401 , and a plurality of rollers 5 are provided on the periphery of the connecting column 401 .

[0039] Specifically, the connecting component 4 is divided into an adjusting component located inside the first storage space 202, and a connecting column 401 located outside the first storage space 202. One end of the adjusting component passes through the oil storage section 201 and the transition block 3, and is fixedly connected to the connecting column 401. A roller 5 is provided on the connecting column 401, so that the ups and downs of the roller 5 on the door frame will drive the movement of the adjusting component, and the change of the hydraulic pressure in the first space 203 generates a buffering force and an extrusion force.

[0040] Furthermore, a specific structure of an adjustment component is provided:

[0041] The regulating component is a first piston 405 , which is movably disposed inside the first storage space 202 along the inner wall of the first storage space 202 .

[0042] Specifically, the first piston 405 is movably arranged inside the first storage space 202 along the inner wall of the first storage space 202. The cross-sectional shape of the first piston 405 is the same as the cross-sectional shape of the inner wall of the first storage space 202, and the four sides of the first piston 405 are in contact with the inner wall of the first storage space 202. The shape can be circular, rectangular, triangular, etc.

[0043] Preferably, see Figure 2 、 3 As shown, another specific structure of the regulating component is provided:

[0044] The regulating component is a relief valve, which includes a first piston 405, a fixed seat 4011, a rebound assembly 4010 and a valve ball. The first piston 405 is movably arranged inside the first storage space 202 along the inner wall of the first storage space 202. The first piston 405 is provided with a placement groove 406 along its moving direction. The fixed seat 4011, the rebound assembly 4010 and the valve ball are all located inside the placement groove 406. A second storage space 402 is opened inside the connecting column 401. One end of the placement groove 406 is connected to the first space 203, and the other end of the placement groove 406 is connected to the second storage space 402, so as to realize the fixed seat 4011, the rebound assembly 4010 and the valve ball to control the connection and isolation between the first space 203 and the second storage space 402.

[0045] Specifically, the regulating component is a relief valve, which includes a first piston 405, a fixed seat 4011, a rebound component 4010 and a valve ball. The cross-sectional shape of the first piston 405 is the same as the cross-sectional shape of the inner wall of the first storage space 202, and the four sides of the first piston 405 are in contact with the inner wall of the first storage space 202, and the shape can be circular, rectangular and triangular, etc. The first piston 405 is provided with a placement groove 406 along its moving direction, and a second storage space 402 is opened inside the connecting column 401. The first space 203 is connected to the second storage space 402 through the placement groove 406. Since the fixed seat 4011, the rebound component 4010 and the valve ball are all located in The interior of the placement groove 406 is placed, so the connection and blockage of the placement groove 406 can be achieved through the structure inside the placement groove 406; when the fluctuation degree or fluctuation rate of the roller 5 is large, the first piston 405 moves too far in the first storage space 202, or the first piston 405 moves too fast in the first storage space 202, resulting in a sudden increase in the hydraulic pressure in the first space 203. Therefore, the pressure generated by the oil in the first space 203 is too large, resulting in damage to the internal structure. Therefore, the above structure is designed. When the hydraulic pressure exceeds the threshold, the oil in the first space 203 will flow into the interior of the second storage space 402, so as to avoid excessive hydraulic pressure in the first space 203.

[0046] For further information, see Figure 3 As shown, the placement groove 406 includes a movable groove 408 and a clamping groove 407, one end of the clamping groove 407 is connected to the first space 203, and the other end of the clamping groove 407 is connected to the movable groove 408, and the fixed seat 4011 is fixed to one end of the movable groove 408 close to the second storage space 402, and the fixed seat 4011 is penetrated by an opening 4012 to realize the connection between the movable groove 408 and the second storage space 402; the rebound component 4010 is arranged inside the movable groove 408, one end of the rebound component 4010 is abutted against the fixed seat 4011, and the other end of the rebound component 4010 is abutted against the valve ball to realize the clamping and separation of the valve ball and the clamping groove 407.

[0047] Specifically, the placement groove 406 can be divided into a movable groove 408 and a clamping groove 407. The fixed seat 4011 is fixed to one end of the movable groove 408 close to the second storage space 402, and the rebound component 4010 and the valve ball are placed inside the movable groove 408 between the fixed seat 4011 and the clamping groove 407. One end of the rebound component 4010 is against the fixed seat 4011, and the other end of the rebound component 4010 is against the valve ball. Since the fixed seat 4011 is fixed inside the movable groove 408, only the valve ball can move in the movable groove 408. At this time, the rebound component 4010 is in a compressed state. The rebound component 4010 can use a spring. The rebound component 4010 pushes the valve ball away from the fixed seat 4011 until part of the valve ball is clamped to the inside of the clamping groove 407 (the opening diameter of the clamping groove 407 is smaller than the diameter of the valve ball). When the hydraulic pressure in the first space 203 is less than the threshold value (the force that the rebound component 4010 can continue to compress), the valve ball and the clamping groove 407 are always closed, and the first piston 405 continues to move toward the first space 203 until the hydraulic pressure in the first space 203 is greater than the threshold value. The hydraulic pressure pushes the valve ball to separate the valve ball from the clamping groove 407. The oil inside the first space 203 will pass through the clamping groove 407, the gap between the valve ball and the clamping groove 407, the movable groove 408 and the opening 4012 of the fixed seat 4011 in sequence, and flow into the interior of the second storage space 402, thereby avoiding the hydraulic pressure in the first space 203 from rising too fast and the pressure value from being too high.

[0048] Furthermore, the fixing seat 4011 is connected to the movable groove 408 through threads, so that the fixing seat 4011 can be movably arranged inside the movable groove 408.

[0049] Specifically, an external thread is provided on the periphery of the fixed seat 4011, and an internal thread is provided on the inner wall of the movable groove 408, so that the fixed seat 4011 is threadedly connected to the movable groove 408. When the fixed seat 4011 is screwed, the fixed seat 4011 moves along the axial direction of the movable groove 408. When the fixed seat 4011 is located at different positions, the compression amount of the rebound assembly 4010 is different. Therefore, the threshold value of the opening of the overflow valve can be adjusted through this design, and the model of the rebound assembly 4010 can also be directly replaced.

[0050] Preferably, see Figure 3 As shown, a scraper 8 and a sealing ring 9 are provided between the outer wall of the first piston 405 and the inner wall of the first storage space 202 . The scraper 8 is sleeved on the first piston 405 , and the sealing ring 9 is sleeved on the first piston 405 .

[0051] Specifically, in order to prevent the oil in the first space 203 from entering the second space 204, when the first piston 405 moves, the scraper 8 is used to scrape off the oil remaining on the inner wall of the first storage space 202. At the same time, the sealing ring 9 is used to improve the sealing between the first space 203 and the second space 204, thereby further preventing the oil in the first space 203 from entering the second space 204.

[0052] Preferably, see Figure 1 、 2 As shown, the roller 5 is arranged on the connecting column 401 through the connecting member 7. The connecting member 7 includes a connecting rod 702, a connecting seat 703 and a shaft 701. One end of the connecting rod 702 is provided with the roller 5 through the shaft 701. The other end of the connecting rod 702 is located inside the second storage space 402. The connecting seat 703 is fixed on the connecting column 401, and the connecting rod 702 is movably arranged on the connecting seat 703.

[0053] Specifically, when the roller 5 exerts pressure on the door frame perpendicular to the connecting component 4, the ups and downs of the roller 5 will drive the connecting rod 702 to move, so as to change the length of the connecting rod 702 inserted into the second storage space 402. The longer the insertion length, the larger the volume of the second storage space 402 occupied, thereby increasing the hydraulic pressure inside the second storage space 402, thereby providing a horizontal buffering force for the collision between the roller 5 and the door frame, while maintaining the horizontal extrusion force of the roller 5 on the door frame, thereby further improving the quality of the rolling edge of the car door.

[0054] For further information, see Figure 2 As shown, a second piston 704 is fixedly sleeved on one end of the connecting rod 702 located inside the second storage space 402. The second storage space 402 is a cylinder. The second piston 704 is movably arranged inside the second storage space 402 along the inner wall of the second storage space 402. The second piston 704 is used to separate the second storage space 402 into a third space 403 and a fourth space 404. The oil is located inside the third space 403.

[0055] Specifically, rollers 5 are provided at both ends of the cylinder through connecting rods 702, and second pistons 704 are fixed on the two connecting rods 702. The second pistons 704 move along the inner wall of the second storage space 402 and divide the second storage space 402 into a third space 403 and a fourth space 404. Among them, the space between the two second pistons 704 is the third space 403, and the remaining space is the fourth space 404. The oil is located inside the third space 403. The above design can improve the efficiency of hydraulic changes. At the same time, the oil inside the third space 403 is pressed to the placement groove 406 due to the hydraulic pressure and squeezes the valve ball, but at this time the valve ball and the clamping groove 407 will only become tighter and tighter, thereby pushing the first piston 405 to move upward, thereby increasing the hydraulic pressure in the first space 203, thereby resisting the hydraulic pressure in the third space 403, and buffering the horizontal pressure through the horizontal and vertical buffering forces at the same time, thereby further improving the buffering effect.

[0056] Preferably, participate Figure 2 As shown, a scraper 8 and a sealing ring 9 are provided between the outer wall of the second piston 704 and the inner wall of the second storage space 402 . The scraper 8 is sleeved on the second piston 704 , and the sealing ring 9 is sleeved on the second piston 704 .

[0057] Specifically, in order to prevent the oil in the third space 403 from entering the fourth space 404, when the second piston 704 moves, the scraper 8 is used to scrape off the oil remaining on the inner wall of the second storage space 402. At the same time, the sealing between the third space 403 and the fourth space 404 is improved by the sealing ring 9, thereby further preventing the oil in the third space 403 from entering the fourth space 404.

[0058] Preferably, see Figure 1 、 2 As shown, a mounting column 10 is provided at the bottom of the connecting column 401 , and a zero point pointer 6 is provided at the bottom of the mounting column 10 , so that the operator can make the tool coordinate (TCP) through the zero point pointer 6 .

[0059] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A robot hemming device for automobile doors, comprising a robot, a gun changing plate and a hemming head, wherein the hemming head is arranged on the robot through the gun changing plate, and is characterized in that: The hemming head comprises: An extension column (2) is arranged on the gun changing plate via a connecting flange (1), the extension column (2) comprising an oil storage section (201), a first storage space (202) being provided inside the oil storage section (201), and the first storage space (202) being filled with oil; A connecting assembly (4) is arranged at one end of the extension column (2) away from the connecting flange (1) through a transition block (3), and a plurality of rollers (5) are arranged on the connecting assembly (4). The connecting assembly (4) includes an adjusting assembly and a connecting column (401), and the adjusting assembly is movably arranged inside the oil storage section (201) along the inner wall of the first storage space (202). The adjusting assembly is used to separate the first storage space (202) into a first space (203) and a second space (204). The oil is located in the first space (203) to achieve a change in the hydraulic pressure inside the first space (203). The end of the adjusting assembly away from the first space (203) is fixedly connected to the connecting column (401), and a plurality of rollers (5) are arranged on the periphery of the connecting column (401); The regulating assembly is a relief valve, which includes a first piston (405), a fixed seat (4011), a rebound assembly (4010) and a valve ball. The first piston (405) is movably arranged inside the first storage space (202) along the inner wall of the first storage space (202). The first piston (405) is provided with a placement groove (406) along its moving direction. The fixed seat (4011), the rebound assembly (4010) and the valve ball are all located inside the placement groove (406). A second storage space (402) is opened inside the connecting column (401). One end of the placement groove (406) is communicated with the first space (203), and the other end of the placement groove (406) is communicated with the second storage space (402), so that the fixed seat (4011), the rebound assembly (4010) and the valve ball control the connection and isolation between the first space (203) and the second storage space (402); The roller (5) is arranged on the connecting column (401) through a connecting member (7), the connecting member (7) includes a connecting rod (702), a connecting seat (703) and a shaft (701), one end of the connecting rod (702) is sleeved with the roller (5) through the shaft (701), the other end of the connecting rod (702) is located inside the second storage space (402), the connecting seat (703) is fixed on the connecting column (401), the connecting rod (702) is movably arranged on the connecting seat (703), and the interior of the second storage space (402) is filled with oil; A second piston (704) is fixedly sleeved on one end of the connecting rod (702) located inside the second storage space (402); the second storage space (402) is cylindrical; the second piston (704) is movably arranged inside the second storage space (402) along the inner wall of the second storage space (402); the second piston (704) is used to separate the second storage space (402) into a third space (403) and a fourth space (404); and oil is located inside the third space (403).

2. The robotic hemming device for automobile doors according to claim 1, characterized in that: The regulating component is a first piston (405), and the first piston (405) is movably arranged inside the first storage space (202) along the inner wall of the first storage space (202).

3. The robotic hemming device for automobile doors according to claim 1, characterized in that: The placement groove (406) includes a movable groove (408) and a clamping groove (407), one end of the clamping groove (407) is connected to the first space (203), and the other end of the clamping groove (407) is connected to the movable groove (408), and the fixed seat (4011) is fixed to one end of the movable groove (408) close to the second storage space (402), and the fixed seat (4011) is provided with an opening (4012) to achieve communication between the movable groove (408) and the second storage space (402); the rebound component (4010) is arranged inside the movable groove (408), one end of the rebound component (4010) is against the fixed seat (4011), and the other end of the rebound component (4010) is against the valve ball, so as to achieve clamping and separation of the valve ball and the clamping groove (407).

4. The robotic hemming device for automobile doors according to claim 3, characterized in that: The fixed seat (4011) is connected to the movable groove (408) via threads, so that the fixed seat (4011) can be movably arranged inside the movable groove (408).

5. The robotic hemming device for automobile doors according to any one of claim 1, characterized in that: A scraper (8) and a sealing ring (9) are provided between the outer wall of the first piston (405) and the inner wall of the first storage space (202); the scraper (8) is sleeved on the first piston (405), and the sealing ring (9) is sleeved on the first piston (405).

6. The robotic hemming device for automobile doors according to claim 1, characterized in that: A scraper (8) and a sealing ring (9) are provided between the outer wall of the second piston (704) and the inner wall of the second storage space (402); the scraper (8) is sleeved on the second piston (704), and the sealing ring (9) is sleeved on the second piston (704).

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