Timing sequence control method and system for edge rolling quality
By dividing the hemming process into multiple time segments and configuring action logic sets, parallel collaborative control of the elevator, membrane fixture, and robot was achieved, solving the problem of improper timing coordination in the existing hemming process, improving production efficiency and reliability, and reducing costs.
Patent Information
- Application Number
- CN202511709527.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-20
- Publication Date
- 2026-02-27
AI Technical Summary
The existing hemming process suffers from problems such as improper timing coordination, long waiting times between equipment, complex control logic, and single signal detection, resulting in low production efficiency and poor reliability.
The hemming process is divided into multiple consecutive time segments, and a unique set of action logic is configured for each time segment. Parallel and collaborative control of the equipment is achieved through a dual-signal confirmation mechanism, including the collaborative actions of the elevator, the membrane clamp, and multiple robots.
It significantly shortens the waiting time at the connection between processes, increases the production cycle time, reduces the complexity of system debugging, enhances the reliability and safety of the process, improves production efficiency, and reduces equipment costs.
Smart Images
Figure CN121578731A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automobile manufacturing technology, and in particular to a time-series control method and system for hemming quality. Background Technology
[0002] Rolling technology is widely used in automotive body-in-white welding. With the rapid development of the automotive welding industry and product updates, the demand for high-quality, high-volume rolling of body panels is increasing. However, due to line investment and costs, existing technologies are relatively expensive and cannot meet the efficiency requirements of automotive body panel rolling. The rolling sequence is complex, affecting the overall rolling time, efficiency, and quality, leaving room for further optimization.
[0003] In existing hemming processes, industrial robots, lifting platforms, and tire film clamps typically work in tandem. A typical workflow includes: the first robot (R01) loads the cover material into the tire film clamp; then, the lifting platform lowers the positioning mechanism to precisely position and clamp the cover material (especially the inner panel); subsequently, the second and third robots (R02, R03) perform the hemming operation; finally, the fourth robot (R04) unloads the completed work. The control of the entire process relies on signal interaction between a programmable logic controller (PLC) and the controllers of each robot.
[0004] However, existing control methods suffer from significant timing coordination problems, which severely restrict the improvement of production cycle time and efficiency, specifically manifested as follows: Inconsistent timing and interaction, resulting in unnecessary waiting: Existing technologies typically employ strict sequential execution logic. For example, the elevator can only begin its descent after robot R01 has completely left the membrane fixture area and issued a departure signal. This complete-wait-trigger pattern generates significant idle waiting time at the points where equipment actions connect, causing severe cycle time loss.
[0005] The positioning process is time-consuming and becomes a bottleneck in the system: the positioning of the elevator generally relies on the motor encoder for zero-point positioning. This process takes a long time (for example, up to 2 seconds), and during this time, the subsequent edge-rolling robot must be in a waiting state and cannot enter the preparation position in advance, further lengthening the entire work cycle time.
[0006] Complex control logic, difficult debugging, and low reliability: Because the robot control program and PLC control logic belong to different systems, there are numerous and complex timing interaction points between them. In existing technologies, there is a lack of a unified and standardized collaborative control framework, leading to frequent instances of program waiting or signal conflicts during equipment debugging. This makes cycle time optimization difficult and production line capacity targets hard to meet. This not only increases debugging costs but also affects production stability and maintainability.
[0007] The reliance on a single sensor signal poses a risk: In some critical steps, such as the positioning and positioning detection of the elevator, relying solely on a single sensor signal (such as using only an encoder or only a photoelectric switch) can easily lead to inaccurate positioning or equipment interference if the signal drifts or malfunctions, affecting product quality or even causing equipment safety accidents.
[0008] Therefore, there is an urgent need in this field for a rolling edge timing control method that can optimize timing logic, reduce waiting time between devices, and improve system reliability and production efficiency. Summary of the Invention
[0009] To address the technical problems existing in the background art, this invention proposes a timing control method and system for hemming quality.
[0010] This invention proposes a timing control method for hemming quality, used to control a system comprising a lift, a membrane clamp, and N robots, where N is an integer greater than or equal to 3. The method includes the following steps: S1. Divide the complete hemming process into M consecutive time segments, and configure a unique action logic set for each time segment. The action logic set is used to coordinate the actions of N robots, elevators and membrane clamps. S2. Control the first robot to perform the cover loading operation, and during the first robot's trajectory operation and when it leaves the work area, trigger the positioning operation of the membrane clamp and the descent permission of the elevator in sequence according to the action logic set of the corresponding time segment. S3. After obtaining permission to descend, the control elevator performs a descent operation. After the elevator confirms its positioning based on dual signals, it releases the gripper locking signal and the robot work area permission signal in parallel according to the action logic set of the corresponding time segment. S4. Control at least one second robot to enter and perform the hemming operation after receiving a robot work area permission signal; at the same time, control the membrane clamp and the elevator to perform the precise positioning and clamping of the cover after receiving the clamp locking signal.
[0011] Preferably, during the operation of the first robot trajectory and when leaving the work area, the positioning operation of the membrane clamp and the descent permission of the elevator are triggered sequentially according to the action logic set of the corresponding time segment, specifically including: When the first robot loads the cover and runs to the pre-set approach point of the trajectory, the position signal of the approach point is acquired; Based on the trajectory approximation point position signal and the corresponding action logic set of the timing segment, process and generate the first trigger command; According to the first trigger command, the membrane clamp is controlled to start the positioning operation of the covering; After the first robot completely leaves the interference zone of the membrane tooling, acquire the status signal of the interference zone; Based on the status signal of the regional interference zone and the action logic set of the corresponding time segment, a second trigger command is generated. The elevator is granted descent permission based on the second trigger command.
[0012] Preferably, the elevator confirms its positioning based on dual signals, specifically including: When the encoder value of the elevator motor reaches the preset threshold, and the sensing signal from the external photoelectric sensor switch is also a valid sensing signal, it indicates that the elevator has been positioned based on dual signals.
[0013] Preferably, after the elevator confirms its positioning based on dual signals, the process of releasing the gripper locking signal and the robot work area permission signal in parallel according to the action logic set of the corresponding time sequence segment specifically includes: After the elevator confirms its positioning based on dual signals, a release enable command is generated according to the action logic set of the current time segment. Based on the release enable instruction, the following two operations are performed in parallel: Send a clamp locking signal to the inner plate positioning mechanism of the membrane clamp and the elevator to trigger it to perform fine positioning and clamping operations on the cover; Send a robot work area permission signal to at least one second robot, authorizing it to enter the hemming work area.
[0014] Preferably, controlling at least one second robot to enter and perform the hemming operation after receiving a robot work area permission signal specifically includes: Obtain the robot work area permission signal, and generate and execute an instruction for at least one second robot to move to a preset rolling edge striking position based on the robot work area permission signal; After at least one second robot reaches the hemming impact position, an instruction is generated and executed to start the hemming tool and run the preset hemming trajectory; After at least one second robot completes the preset hemming trajectory, a hemming operation completion status signal is obtained, and based on the hemming operation completion status signal, at least one second robot is controlled to leave the work area and the robot work area permission it occupies is released.
[0015] Preferably, it further includes: S5. After at least one second robot completes the rolling operation, according to the action logic set of the corresponding timing segment, control the fixture and the elevator to unlock and rise, and release the unloading permission signal after the elevator rises to the position.
[0016] Preferably, it further includes: S6. After receiving the unloading permission signal, the third robot is controlled to enter and perform the unloading operation of the cover; wherein, the actions of the N robots are synchronized and coordinated by a series of permission signals triggered by the timing segment to optimize the cycle time of the hemming process.
[0017] Preferably, the first robot is used to perform the loading function of the cover, the at least one second robot is used to perform the hemming function, and the third robot is used to perform the unloading function of the cover.
[0018] This invention proposes a timing control system for hemming quality, used to implement the timing control method for hemming quality described in any of the above claims, comprising: The timing planning module is used to divide the complete hemming process into M consecutive timing segments and configure a unique set of action logic for each timing segment. The signal management module is used to generate and manage descent permission signals, fixture locking signals, robot work area permission signals, and unloading permission signals. The collaborative control module is communicatively connected to the timing planning module and the signal management module, respectively. It is used to receive status signals from the robot and sensors; based on the action logic set and status signals corresponding to the current timing segment, it sends instructions to the signal management module to generate or release corresponding permission signals; and generates collaborative control instructions based on the status of the action logic set and the permission signals. The drive execution module group, which communicates with the collaborative control module, is used to receive collaborative control commands and drive corresponding devices to perform actions. The drive execution module group includes: The first robot drive unit is used to drive the first robot to perform the cover loading operation; The elevator drive unit is used to drive the elevator to perform descent and ascent operations; The membrane clamp drive unit is used to drive the membrane clamp to perform the positioning and clamping operations of the covering part; At least one second robot drive unit is provided for driving at least one second robot to perform the hemming operation; The system achieves coordinated actions of N robots, elevators, and membrane clamps through the collaboration of timing planning, signal management, and collaborative control modules.
[0019] The proposed timing control method and system for hemming quality in this invention achieves parallel triggering and precise synchronization of multiple equipment actions by constructing a collaborative control system based on timing segments and permission signals. This completely eliminates waiting time at process connections, significantly improving the overall production cycle time. It also greatly reduces the complexity and cycle time of system debugging. Furthermore, the dual-signal interlocking mechanism for key steps effectively enhances the reliability and safety of the process. Ultimately, while ensuring hemming quality, it improves production efficiency, reduces equipment costs, and stabilizes the production cycle time. Attached Figure Description
[0020] Figure 1 This is a flowchart illustrating the timing control method for hemming quality proposed in this invention. Figure 2 This is a schematic diagram of the system architecture of a timing control system for hemming quality proposed in this invention. Detailed Implementation
[0021] Reference Figure 1 and Figure 2 This invention proposes a timing control method for hemming quality, used to control a system comprising a lift, a membrane clamp, and N robots, where N is an integer greater than or equal to 3. The method includes the following steps: S1. Divide the complete hemming process into M consecutive time segments, and configure a unique action logic set for each time segment. The action logic set is used to coordinate the actions of N robots, elevators and membrane clamps.
[0022] S2. Control the first robot to perform the cover loading operation, and during the first robot's trajectory operation and when it leaves the work area, trigger the positioning operation of the membrane clamp and the descent permission of the elevator in sequence according to the action logic set of the corresponding time segment.
[0023] In this embodiment, during the first robot's trajectory operation and when it leaves the work area, the positioning operation of the membrane clamp and the descent permission of the elevator are triggered sequentially according to the action logic set of the corresponding time segment. Specifically, this includes: when the first robot loads the cover and runs to the trajectory's preset approach point, acquiring the trajectory approach point position signal; processing and generating a first trigger command based on the trajectory approach point position signal and the action logic set of the corresponding time segment; controlling the membrane clamp to start performing the cover positioning operation according to the first trigger command; acquiring the regional interference zone status signal after the first robot completely leaves the regional interference zone of the membrane tooling; processing and generating a second trigger command based on the regional interference zone status signal and the action logic set of the corresponding time segment; and granting descent permission to the elevator according to the second trigger command.
[0024] S3. After obtaining permission to descend, the control elevator performs a descent operation. After the elevator confirms its positioning based on dual signals, it releases the clamp locking signal and the robot work area permission signal in parallel according to the action logic set of the corresponding time segment.
[0025] In this embodiment, the elevator confirms its positioning based on dual signals, specifically: when the encoder value of the elevator motor reaches a preset threshold, and the sensing signal of the external photoelectric sensor switch is a valid sensing signal, it indicates that the elevator has confirmed its positioning based on dual signals.
[0026] Specifically, after the elevator confirms its positioning based on dual signals, the clamp locking signal and the robot work area permission signal are released in parallel according to the action logic set of the corresponding time segment. This includes: after the elevator confirms its positioning based on dual signals, a release enable command is generated according to the action logic set of the current time segment; according to the release enable command, the following two operations are performed in parallel: a clamp locking signal is sent to the membrane clamp and the inner plate positioning mechanism of the elevator to trigger them to perform fine positioning and clamping operations on the cover; a robot work area permission signal is sent to at least one second robot to authorize it to enter the hemming work area.
[0027] S4. Control at least one second robot to enter and perform the hemming operation after receiving a robot work area permission signal; at the same time, control the membrane clamp and the elevator to perform the precise positioning and clamping of the cover after receiving the clamp locking signal.
[0028] In this embodiment, controlling at least one second robot to enter and perform the hemming operation after receiving a permission signal for the robot's work area specifically includes: Obtain a robot work area permission signal, and generate and execute an instruction for at least one second robot to move to a preset rolling edge striking position based on the robot work area permission signal; After at least one second robot reaches the hemming impact position, an instruction is generated and executed to start the hemming tool and run the preset hemming trajectory; After at least one second robot completes the preset hemming trajectory, a hemming operation completion status signal is obtained, and based on the hemming operation completion status signal, at least one second robot is controlled to leave the work area and the robot work area permission it occupies is released.
[0029] In this embodiment, it also includes: S5. After at least one second robot completes the rolling operation, according to the action logic set of the corresponding timing segment, control the fixture and the elevator to unlock and rise, and release the unloading permission signal after the elevator rises to the position.
[0030] In this embodiment, it also includes: S6. After receiving the unloading permission signal, the third robot enters and performs the unloading operation of the cover part; wherein, the actions of N robots are synchronized and coordinated through a series of permission signals triggered by the timing segment to optimize the cycle time of the hemming process.
[0031] Specifically, the first robot is used to perform the loading function of the cover, at least one second robot is used to perform the hemming function, and the third robot is used to perform the unloading function of the cover.
[0032] Example 1
[0033] The system used in this embodiment mainly includes: a membrane clamp for fixing and positioning the covering; a lift equipped with a fine positioning mechanism such as an inner plate positioning pin and a surface difference control unit; a control system including a PLC and controllers for each robot, with signal interaction between the PLC and the controllers of each robot via a fieldbus; and four robots (N=4); specifically, the four robots (N=4) include: The first robot (R01) is a loading robot responsible for loading the cover into the membrane tooling.
[0034] The second robot (including R02 and R03): as the hemming robot, it is responsible for performing the hemming operation.
[0035] The third robot (R04) is responsible for unloading the rolled-up cover from the film tooling.
[0036] Specifically, after the system is powered on, the PLC establishes a communication connection with all robot controllers and loads a pre-compiled timing control program, which defines the action logic for each timing segment.
[0037] In this embodiment, the timing control process for the hemming quality specifically includes: Phase 1: Loading and initial positioning of the cover components; The first robot R01 grips the cover and moves along a preset trajectory toward the membrane fixture. When the first robot R01 reaches the approach point on the trajectory, the controller of the first robot R01 sends a trajectory approach point position signal to the PLC.
[0038] Specifically, the approximation point can be defined as 50mm away from the target position, i.e., the approximation value is 50.
[0039] Phase 2: Lift descent permission granted; The first robot R01 continues to move until it completely leaves the interference zone of the membrane fixture. At this point, the controller or area sensor of the first robot R01 sends an interference zone status signal to the PLC. Upon receiving this signal, the PLC generates a second trigger command according to the action logic of the second timing segment, granting the elevator descent permission. After receiving the descent permission, the elevator immediately starts the descent program. Upon receiving this signal, the PLC immediately issues a first trigger command to the membrane fixture according to the action logic of the first timing segment. After receiving the command, the membrane fixture begins to perform the positioning operation of the cover: first, it performs the first action to complete the pre-positioning of the outer panel flange; then, it performs the second action to complete the precise positioning of the outer panel reference hole.
[0040] Specifically, the key to this step is that the positioning operation of the fetal membrane clamp is carried out in parallel with the movement of the first robot R01, without waiting for the first robot R01 to completely leave.
[0041] Phase 3: Parallel release of permission for precise positioning and hemming operations; In this embodiment, during the descent of the elevator, the PLC monitors two signals in real time: the encoder value of the elevator servo motor and the signal from the external photoelectric sensor switch installed near the target position of the elevator descent.
[0042] Specifically, when the PLC determines that the encoder value of the motor has reached the preset descent threshold and the external photoelectric sensor switch detects a valid signal, it determines that the elevator has been precisely positioned. The PLC then generates a release enable instruction based on the action logic of the third timing segment and executes the following two operations in parallel: Send clamp locking signals to the inner plate positioning mechanism of the membrane clamp and the elevator, and send robot work area permission signals to the controller of the second robot (R02, R03).
[0043] Timing Segment 4: Parallel execution of edge rolling and fine positioning; Upon receiving the clamp locking signal, the elevator and the membrane clamp work together to precisely position the inner panel positioning pin. Then, the surface difference control unit of the inner and outer panels executes locking and clamping actions, and the membrane clamp finally completes the positioning of the outer panel flange. This process ensures the stable clamping of the cover during the hemming process. Simultaneously, upon receiving the robot work area permission signal, the second robots (R02 and R03) immediately move from the waiting area to the hemming rush position. After R02 and R03 reach the rush position and confirm that the cover has been reliably clamped, the two robots begin executing the preset hemming trajectory for the hemming operation. The operations of R02 and R03 can be performed synchronously to further shorten the cycle time.
[0044] Phase 5: Reset and Unloading Preparation; After the second robots (R02 and R03) complete the hemming operation, they send a hemming operation completion status signal to the PLC and leave the work area, releasing the robot's work area permission. Upon receiving the completion signal, the PLC, according to the action logic of the fifth timing segment, controls the locking unit of the surface difference control unit to open and the fine positioning mechanism of the inner panel to open, thus releasing all locks on the cover. Subsequently, the PLC controls the elevator to begin rising. When the elevator is nearing its final position, the PLC again employs a dual-insurance strategy, using both the encoder value of the motor and an external photoelectric sensor switch to confirm that the elevator has reached its final position and immediately releases the unloading permission signal.
[0045] Phase 6: Overlay unloading; After receiving the unloading clearance signal, the third robot R04 enters the membrane fixture area. Its execution program controls its gripper to clamp the rolled-edge cover. Simultaneously, the outer panel positioning mechanism of the membrane fixture releases. This clamping and releasing action is performed synchronously to save time. Finally, the third robot R04 unloads and removes the cover, completing one full work cycle.
[0046] Reference Figure 1 and Figure 2 The present invention proposes a timing control system for hemming quality, used to implement the timing control method for hemming quality as described above, comprising: The timing planning module is used to divide the complete hemming process into M consecutive timing segments and configure a unique set of action logic for each timing segment. The signal management module is used to generate and manage descent permission signals, fixture locking signals, robot work area permission signals, and unloading permission signals. The collaborative control module communicates with the timing planning module and the signal management module respectively. It receives status signals from the robot and sensors; based on the action logic set and status signals corresponding to the current timing segment, it issues instructions to the signal management module to generate or release corresponding permission signals; and generates collaborative control instructions based on the status of the action logic set and permission signals. The drive execution module group, which communicates with the collaborative control module, is used to receive collaborative control commands and drive corresponding devices to perform actions. The drive execution module group includes: The first robot drive unit is used to drive the first robot to perform the cover loading operation; The elevator drive unit is used to drive the elevator to perform descent and ascent operations; The membrane clamp drive unit is used to drive the membrane clamp to perform the positioning and clamping operations of the covering part; At least one second robot drive unit is provided for driving at least one second robot to perform the hemming operation; The system achieves coordinated actions of N robots, elevators, and membrane clamps through the collaboration of timing planning, signal management, and collaborative control modules.
[0047] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.
Claims
1. A timing control method for hemming quality, used to control a system comprising a lift, a membrane clamp, and N robots, wherein N is an integer greater than or equal to 3, characterized in that, The method includes the following steps: S1. Divide the complete hemming process into M consecutive time segments, and configure a unique action logic set for each time segment. The action logic set is used to coordinate the actions of N robots, elevators and membrane clamps. S2. Control the first robot to perform the cover loading operation, and during the first robot's trajectory operation and when it leaves the work area, trigger the positioning operation of the membrane clamp and the descent permission of the elevator in sequence according to the action logic set of the corresponding time segment. S3. After obtaining permission to descend, the control elevator performs a descent operation. After the elevator confirms its positioning based on dual signals, it releases the gripper locking signal and the robot work area permission signal in parallel according to the action logic set of the corresponding time segment. S4. Control at least one second robot to enter and perform the hemming operation after receiving a robot work area permission signal; at the same time, control the membrane clamp and the elevator to perform the precise positioning and clamping of the cover after receiving the clamp locking signal.
2. The timing control method for hemming quality according to claim 1, characterized in that, During the operation of the first robot trajectory and when leaving the work area, the positioning operation of the membrane clamp and the descent permission of the elevator are triggered sequentially according to the action logic set of the corresponding time segment, specifically including: When the first robot loads the cover and runs to the pre-set approach point of the trajectory, the position signal of the approach point is acquired; Based on the trajectory approximation point position signal and the corresponding action logic set of the timing segment, process and generate the first trigger command; According to the first trigger command, the membrane clamp is controlled to start the positioning operation of the covering; After the first robot completely leaves the interference zone of the membrane tooling, acquire the status signal of the interference zone; Based on the status signal of the regional interference zone and the action logic set of the corresponding time segment, a second trigger command is generated. The elevator is granted descent permission based on the second trigger command.
3. The timing control method for hemming quality according to claim 1, characterized in that, The elevator is positioned based on dual signal confirmation, specifically including: When the encoder value of the elevator motor reaches the preset threshold, and the sensing signal from the external photoelectric sensor switch is also a valid sensing signal, it indicates that the elevator has been positioned based on dual signals.
4. The timing control method for hemming quality according to claim 1, characterized in that, After the elevator confirms its positioning based on dual signals, it releases the gripper locking signal and the robot work area permission signal in parallel according to the action logic set of the corresponding time sequence segment. Specifically, this includes: After the elevator confirms its positioning based on dual signals, a release enable command is generated according to the action logic set of the current time segment. Based on the release enable instruction, the following two operations are performed in parallel: Send a clamp locking signal to the inner plate positioning mechanism of the membrane clamp and the elevator to trigger it to perform fine positioning and clamping operations on the cover; Send a robot work area permission signal to at least one second robot, authorizing it to enter the hemming work area.
5. The timing control method for hemming quality according to claim 1, characterized in that, The control of at least one second robot to enter and perform the hemming operation after receiving a robot work area permission signal specifically includes: Obtain the robot work area permission signal, and generate and execute an instruction for at least one second robot to move to a preset rolling edge striking position based on the robot work area permission signal; After at least one second robot reaches the hemming impact position, an instruction is generated and executed to start the hemming tool and run the preset hemming trajectory; After at least one second robot completes the preset hemming trajectory, a hemming operation completion status signal is obtained, and based on the hemming operation completion status signal, at least one second robot is controlled to leave the work area and the robot work area permission it occupies is released.
6. The timing control method for hemming quality according to claim 1, characterized in that, Also includes: S5. After at least one second robot completes the rolling operation, according to the action logic set of the corresponding timing segment, control the fixture and the elevator to unlock and rise, and release the unloading permission signal after the elevator rises to the position.
7. The timing control method for hemming quality according to claim 6, characterized in that, Also includes: S6. After receiving the unloading permission signal, the third robot is controlled to enter and perform the unloading operation of the cover; wherein, the actions of the N robots are synchronized and coordinated by a series of permission signals triggered by the timing segment to optimize the cycle time of the hemming process.
8. The timing control method for hemming quality according to claim 7, characterized in that, The first robot is used to perform the loading function of the cover, the at least one second robot is used to perform the hemming function, and the third robot is used to perform the unloading function of the cover.
9. A timing control system for hemming quality, used to implement the timing control method for hemming quality as described in any one of claims 1 to 8, characterized in that, include: The timing planning module is used to divide the complete hemming process into M consecutive timing segments and configure a unique set of action logic for each timing segment. The signal management module is used to generate and manage descent permission signals, fixture locking signals, robot work area permission signals, and unloading permission signals. The collaborative control module is communicatively connected to the timing planning module and the signal management module, respectively. It is used to receive status signals from the robot and sensors; based on the action logic set and status signals corresponding to the current timing segment, it sends instructions to the signal management module to generate or release corresponding permission signals; and generates collaborative control instructions based on the status of the action logic set and the permission signals. The drive execution module group, which communicates with the collaborative control module, is used to receive collaborative control commands and drive corresponding devices to perform actions. The drive execution module group includes: The first robot drive unit is used to drive the first robot to perform the cover loading operation; The elevator drive unit is used to drive the elevator to perform descent and ascent operations; The membrane clamp drive unit is used to drive the membrane clamp to perform the positioning and clamping operations of the covering part; At least one second robot drive unit is provided for driving at least one second robot to perform the hemming operation; The system achieves coordinated actions of N robots, elevators, and membrane clamps through the collaboration of timing planning, signal management, and collaborative control modules.