Rail transit vehicle door leaf maintenance system and maintenance method

Abstract

The invention discloses a rail transit vehicle door leaf overhauling system and method, and the system comprises a door leaf overhauling area, a small part disassembling and assembling area, a driving mechanism part disassembling and assembling area and a vehicle door assembling and testing area, and the door leaf overhauling area is internally provided with a first mechanical arm and an overhauling correction table; the small part disassembling and assembling area comprises a second mechanical arm and a small part disassembling and assembling table; the driving mechanism component disassembling and assembling area comprises a third mechanical arm, a fourth mechanical arm and a driving mechanism component disassembling and assembling table; the vehicle door assembling and testing area comprises a fifth mechanical arm, a sixth mechanical arm, a seventh mechanical arm and a vehicle door assembling and testing frame, and the first mechanical arm, the second mechanical arm, the third mechanical arm, the fourth mechanical arm, the fifth mechanical arm, the sixth mechanical arm and the seventh mechanical arm are controlled by a controller in the control cabinet. According to the maintenance system, the functions of door leaf maintenance, small part disassembling and assembling, driving structure part disassembling and assembling, vehicle door assembling and testing and the like are integrated through regionalized layout, and automation of the maintenance process is achieved.

Description

A rail transit vehicle door maintenance system and method Technical Field

[0001] This invention relates to the field of vehicle door maintenance technology, specifically to a rail transit vehicle door maintenance system and method. Background Technology

[0002] The door system is an important component of rail transit vehicles. During vehicle maintenance and overhaul, the entire door mechanism needs to be disassembled, and the door panel mechanism needs to be transferred to other sites for maintenance.

[0003] Utility model patent CN215941120U discloses a railway freight car door maintenance line. Its control system uses a hydraulic system to control the main cylinder, thus automating the door shaping process. However, it only covers the door leaf maintenance, lacking maintenance of smaller components and drive structure parts. In actual use, the probability of failure in these components is not low. Due to the lack of corresponding maintenance functions, these component failures cannot be detected and addressed in a timely manner, leading to a decline in the overall performance of the door and potentially causing safety accidents. Furthermore, it does not cover the post-assembly testing stage. Even if the door leaf maintenance is successful, the performance and quality of the entire door after assembly cannot be guaranteed. If the precision of the fit between components and the stability of the overall structure are not effectively verified, various problems may occur in actual use, such as difficulty opening and closing, abnormal noises, and air leaks, reducing the reliability and safety of vehicle operation. If manual inspection of small parts or drive structure components of the door is required, or if the door needs to be removed from the inspection line and transferred to other specialized inspection equipment or sites for testing, this not only increases the workload and time costs of the transfer process and reduces inspection efficiency, but may also lead to secondary damage to the door during transport. Furthermore, both the door loading and unloading assistive balancers require manual operation, resulting in insufficient automation. In addition, data collection during the inspection process is incomplete, making quality traceability impossible, and safety protection measures in the work area are inadequate, posing safety risks. Summary of the Invention

[0004] The purpose of this invention is to provide a rail transit vehicle door maintenance system and method. This maintenance system integrates functions such as door maintenance, small component disassembly and assembly, drive structure component disassembly and assembly, and door assembly and testing through regional layout and multi-workstation collaborative design. It realizes parallel operation of multiple processes, improves maintenance efficiency and quality, and automates the maintenance process to ensure operational safety.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] On one hand, the present invention provides a rail transit vehicle door panel maintenance system, including a door panel maintenance area, a small component disassembly and assembly area, a drive mechanism component disassembly and assembly area, and a door assembly testing area. The door panel maintenance area is equipped with a first robotic arm and a maintenance and straightening table. The first robotic arm can pick up the door panel to be inspected and place it on the maintenance and straightening table for inspection and straightening to form a door panel to be assembled. The small component disassembly and assembly area includes a second robotic arm and a small component disassembly and assembly table. The second robotic arm can pick up small components and place them on the small component disassembly and assembly table for disassembly and assembly. The drive mechanism component disassembly and assembly area includes a third robotic arm, a fourth robotic arm, and a drive mechanism component disassembly and assembly table. The third robotic arm picks up drive mechanism components and cooperates with the fourth robotic arm to inspect the drive mechanism components to be inspected on the drive mechanism component disassembly and assembly table. Disassembly and assembly; the door assembly test area includes a fifth robotic arm, a sixth robotic arm, a seventh robotic arm, and a door assembly test frame. The seventh robotic arm is used to pick up the door panel to be assembled and fix it to the door assembly test frame. The fifth robotic arm is used to pick up the disassembled and assembled small parts and install them onto the door panel to be assembled. The sixth robotic arm is used to pick up the disassembled and assembled drive mechanism components and install them onto the door panel to be assembled. The door assembly test frame is equipped with an opening and closing test device to perform opening and closing tests on the assembled door panels. The first, second, third, fourth, fifth, sixth, and seventh robotic arms are controlled by a controller in the control cabinet. The controller has built-in operating software to control and monitor the process progress and equipment operating status of each area in real time.

[0007] Preferably, the door panel inspection area is provided with a first storage rack and a second storage rack. The first storage rack is used to store door panels to be inspected, and the second storage rack is used to store door panels to be assembled. There are two inspection and correction tables. The first robotic arm is located between the two inspection and correction tables and travels on a first travel track. The first robotic arm is provided with a first quick-change interface. A first quick-change tooling bracket is provided on one side of the inspection and correction table. The first quick-change tooling bracket is provided with a variety of first quick-change tools, and the various first quick-change tools can be connected to the first robotic arm through the first quick-change interface.

[0008] Preferably, the first quick-change tooling includes a suction cup tooling for adsorbing and transporting the door leaf to be inspected; the first robotic arm is equipped with a three-dimensional scanning sensor, which is electrically connected to the controller; the inspection and correction table is equipped with a correction tooling, and the three-dimensional scanning sensor is electrically connected to the inspection and correction table, so that after the three-dimensional scanning sensor scans and detects the external dimensions of the door leaf to be inspected, it can feed back the signal to the inspection and correction table, so that the correction tooling can correct the door leaf to be inspected; the door leaf inspection area is also equipped with a paint touch-up booth, which is equipped with a paint touch-up device for touching up the paint on the door leaf to be inspected.

[0009] Preferably, the small component disassembly and assembly area is equipped with a small component tray, a second quick-change tooling bracket, and a small component rotary storage unit. The second robotic arm is equipped with a second quick-change interface, and the second quick-change tooling bracket is equipped with various second quick-change tools. These tools can be connected to the second robotic arm through the second quick-change interface. The second robotic arm is equipped with a second vision sensor, which is connected to a controller. The second vision sensor is used to visually inspect the disassembled and assembled small components. The second robotic arm places qualified small components into the small component rotary storage unit and unqualified small components into the scrap area of ​​the small component tray.

[0010] Preferably, a cleaning and oiling station is provided between the small parts disassembly and assembly area and the drive mechanism parts disassembly and assembly area. The second quick-change tooling includes a disassembly lever manual tooling, a second picking tooling, and a small parts cleaning tooling. The second picking tooling is used by the second robotic arm to pick up the small parts to be repaired from the small parts tray and place them on the small parts disassembly and assembly station. The disassembly lever manual tooling is used by the second robotic arm to disassemble and assemble the small parts on the small parts disassembly and assembly station. The small parts cleaning tooling is used by the second robotic arm to place the disassembled small parts on the cleaning and oiling station for cleaning and oiling.

[0011] Preferably, the drive mechanism component disassembly and assembly area is provided with a drive mechanism component tray, a third quick-change tooling bracket, a fourth quick-change tooling bracket, and a drive mechanism component rotary storage unit. The third robotic arm is provided with a third quick-change interface, and the third quick-change tooling bracket is provided with multiple third quick-change toolings, which can be connected to the third robotic arm through the third quick-change interface. The fourth robotic arm is provided with a fourth quick-change interface, and the fourth quick-change tooling bracket is provided with multiple fourth quick-change toolings, which can be connected to the fourth robotic arm through the fourth quick-change interface. The fourth robotic arm is provided with a fourth vision sensor, which is used to perform visual inspection on the disassembled drive mechanism components and is connected to a controller.

[0012] Preferably, the third quick-change fixture includes a third picking fixture and a fixing fixture. The third robotic arm picks up the drive mechanism component to be repaired from the drive mechanism component tray using the third picking fixture and places it on the drive mechanism component disassembly and assembly table. The fourth quick-change fixture includes a fourth picking fixture, a disassembly fixture, a drive mechanism component cleaning fixture, and a pressing fixture. When the drive mechanism component to be repaired is disassembled or assembled, the third robotic arm uses the fixing fixture to fix the drive mechanism component to be repaired on the drive mechanism component disassembly and assembly table. The fourth robotic arm uses the disassembly fixture to disassemble or assemble the drive mechanism component to be repaired. The fourth robotic arm uses the drive mechanism component cleaning fixture to place the disassembled drive mechanism component into the cleaning and oiling table for cleaning and oiling. When the drive mechanism component to be repaired is assembled, the fourth robotic arm uses the pressing fixture to lock and fix the assembled drive mechanism component and uses the fourth picking fixture to place the assembled drive mechanism component into the drive mechanism component rotary storage unit.

[0013] Preferably, the door assembly test area is provided with a second travel track, a third travel track, a fifth quick-change tooling bracket, and a sixth quick-change tooling bracket. The door assembly test frame is set between the second and third travel tracks. The fifth and sixth robotic arms travel on the second travel track, and the fourth robotic arm travels on the third travel track. The fifth robotic arm is provided with a fifth quick-change interface, and the fifth quick-change tooling bracket is provided with multiple fifth quick-change tools that can be connected to the fifth robotic arm through the fifth quick-change interface. The sixth robotic arm is provided with a sixth quick-change interface, and the sixth quick-change tooling bracket is provided with multiple sixth quick-change tools that can be connected to the sixth robotic arm through the sixth quick-change interface. The seventh robotic arm is provided with a seventh quick-change interface, and the seventh quick-change tooling bracket is provided with multiple seventh quick-change tools that can be connected to the seventh robotic arm through the seventh quick-change interface.

[0014] Preferably, the seventh quick-change tooling includes a suction cup transport tooling, through which the seventh robotic arm fixes the door panel to be assembled onto the door assembly test rack. The fifth quick-change tooling includes a fifth picking tooling and a locking tooling, through which the fifth robotic arm places small parts from the small parts rotary storage unit onto the door assembly test rack. During door panel assembly, the fifth robotic arm secures the door panel using the locking tooling. The sixth quick-change tooling includes a sixth picking tooling and an assembly tooling, through which the sixth robotic arm places drive mechanism components from the drive mechanism component rotary storage unit onto the door assembly test rack. During door panel assembly, the sixth robotic arm uses the assembly tooling to assemble the door panel and drive mechanism components. The door assembly test rack is equipped with a door opening and closing test device, which can perform opening and closing tests on the assembled door. The seventh robotic arm is equipped with a seventh vision sensor to collect door opening and closing data, and the seventh vision sensor is connected to a controller.

[0015] On the other hand, the present invention provides a maintenance method for a rail transit vehicle door panel maintenance system, which includes the following steps using the aforementioned rail transit vehicle door panel maintenance system:

[0016] S1, Door leaf maintenance work:

[0017] S1-1, The external transfer trolley moves multiple doors to be inspected to the door inspection area and places them on the first storage rack.

[0018] S1-2, the first robotic arm uses a suction cup fixture to pick up the door panel to be inspected and place it on the inspection and correction table.

[0019] S1-3, the three-dimensional scanning sensor on the first robotic arm scans and detects the external dimensions of the door leaf to be inspected, and feeds the scan data back to the inspection and correction table.

[0020] S1-4, the inspection and straightening table activates the straightening fixture on the deformed area based on the scanned detection data to perform press-fit straightening on the deformed area.

[0021] S1-5, the corrected door panel to be inspected is scanned and detected again by the three-dimensional scanning sensor on the first robotic arm;

[0022] S1-6, After the door leaf has passed the correction, it is transferred to the paint repair room by the first robotic arm; the paint repair device in the paint repair room applies paint to the door leaf to be repaired, so as to form a door leaf to be assembled.

[0023] S1-7, the first robotic arm uses a suction cup fixture to transfer the door panel to be assembled to the second storage rack, where it awaits assembly;

[0024] S2, Small parts disassembly and repair:

[0025] S2-1, The second robotic arm picks up the small parts to be inspected from the small parts tray using the second picking fixture and places them on the small parts disassembly and assembly table;

[0026] S2-2, the second robotic arm uses a disassembly lever to manually disassemble small parts on the small parts disassembly and assembly table;

[0027] S2-3, the second robotic arm uses a small parts cleaning fixture to place the disassembled small parts on the cleaning and oiling station for cleaning and oiling.

[0028] S2-4, The second vision sensor on the second robotic arm performs visual inspection on the small parts after cleaning and oiling. Qualified small parts are ready for assembly, while unqualified small parts are placed in the scrap area of ​​the small parts tray by the second robotic arm.

[0029] S3, Small Parts Assembly:

[0030] S3-1, qualified small parts are manually assembled using the disassembly lever on the second robotic arm, and the assembled small parts are placed in the small parts rotary storage room by the second robotic arm to wait for door assembly.

[0031] S4, Disassembly and inspection of drive mechanism components:

[0032] S4-1, the third robotic arm uses the third picking tooling to pick up the drive mechanism component to be inspected from the drive mechanism component tray and places it on the drive mechanism component disassembly and assembly table.

[0033] S4-2, the third robotic arm uses a fixing fixture to fix the drive mechanism component to be repaired on the disassembly and assembly table, and the fourth robotic arm uses a disassembly fixture to disassemble the drive mechanism component to be repaired. The third robotic arm and the fourth robotic arm work together to complete the disassembly of the drive mechanism component to be repaired.

[0034] S4-3 After the drive mechanism component to be inspected is disassembled, the fourth robotic arm uses the drive mechanism component cleaning fixture to place the disassembled drive mechanism component into the cleaning and oiling station for cleaning and oiling.

[0035] S4-4 uses the fourth vision sensor on the fourth robotic arm to visually inspect the cleaned and oiled drive mechanism components. Qualified drive mechanism components are ready for assembly, while unqualified ones are placed in the scrap area of ​​the drive mechanism component tray and then transported by an external transfer vehicle to the drive mechanism component disassembly and assembly area.

[0036] S5, Assembly of drive mechanism components:

[0037] S5-1, the fourth robotic arm picks up qualified drive mechanism components through the fourth pick-up fixture;

[0038] S5-2, the third robotic arm uses a fixture to fix the drive mechanism component to be repaired on the disassembly and assembly table, and the fourth robotic arm uses a disassembly fixture to assemble the drive mechanism component to be repaired. The third robotic arm and the fourth robotic arm work together to complete the assembly of the drive mechanism component to be repaired.

[0039] S5-3, the fourth robotic arm uses a press-fitting fixture to lock and fix the drive mechanism components to form an assembled drive mechanism component;

[0040] S5-4, the fourth robotic arm uses the fourth pick-up fixture to place the assembled drive mechanism components into the drive mechanism component rotary storage unit, waiting for the door panel to be assembled;

[0041] S6, Door assembly:

[0042] S6-1, the seventh robotic arm uses a suction cup to move the door panel to be assembled to the door assembly test frame;

[0043] S6-2, the fifth robotic arm uses the fifth picking fixture to place small parts from the small parts rotary storage unit onto the door assembly test rack;

[0044] S6-3, the sixth robotic arm uses the sixth picking fixture to place the drive mechanism components in the rotary storage unit of the drive mechanism components onto the door assembly test rack;

[0045] S6-4, the sixth robotic arm uses assembly fixtures to dock and install the door panel and drive mechanism components;

[0046] S6-5, the fifth robotic arm uses a locking fixture to assemble small parts onto the door panel and fasten the door panel to form an assembled car door;

[0047] S7, door simulation test:

[0048] S7-1 connects the assembled car door to the car door opening and closing test device. The seventh robotic arm triggers the car door opening and closing test device and performs the opening and closing test. The seventh vision sensor on the seventh robotic arm collects the opening and closing data of the car door.

[0049] S7-2, the sixth robotic arm disassembles the drive mechanism components on the car door using an assembly fixture; the fifth robotic arm disassembles the small parts on the car door using a locking fixture, and then the seventh robotic arm transfers the qualified door panels to the second storage rack; for the unqualified door panels, the disassembled small parts and drive mechanism components are re-inspected, and steps S2-S7 are repeated, the test data is uploaded to the controller and a traceability report is generated.

[0050] The present invention achieves the following beneficial technical effects compared to the prior art:

[0051] The rail transit vehicle door maintenance system provided by this invention is equipped with multiple robotic arms. Each robotic arm has a clearly defined function and works collaboratively. From door leaf retrieval to the disassembly and assembly of small parts and drive mechanism components, and finally to door assembly and testing, the entire process is automated, significantly improving maintenance efficiency and reducing manual operation time and labor intensity. Four areas can simultaneously perform door leaf maintenance, small part disassembly and assembly, drive mechanism component disassembly and assembly, and door testing, significantly shortening the overall maintenance cycle and increasing door maintenance capacity. Using 3D scanning sensors and multiple vision sensors, the system accurately detects the door leaf's dimensions, small parts, and drive mechanism components, promptly identifying deformation, damage, and other problems. This provides a basis for precise correction and repair, effectively ensuring maintenance quality. Attached Figure Description

[0052] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0053] Figure 2 is a top view of the present invention;

[0054] In the diagram: 100-Door inspection area, 101-First robotic arm, 102-Inspection and straightening table, 103-Door to be inspected, 104-First storage rack, 105-Second storage rack, 106-Door to be assembled, 107-First traveling track, 108-First quick-change tooling bracket, 109-Suction cup tooling, 110-Straightening tooling, 111-Painting booth;

[0055] 200-Small parts disassembly and assembly area, 201-Second robotic arm, 202-Small parts disassembly and assembly table, 203-Small parts tray, 204-Second quick-change tooling bracket, 205-Small parts rotary storage unit, 206-Cleaning and oiling table;

[0056] 300 - Disassembly and assembly area for drive mechanism components; 301 - Third robotic arm; 302 - Fourth robotic arm; 303 - Disassembly and assembly table for drive mechanism components; 304 - Drive mechanism component tray; 305 - Third quick-change tooling bracket; 306 - Fourth quick-change tooling bracket; 307 - Rotary automated storage and retrieval system for drive mechanism components.

[0057] 400 - Door assembly test area; 401 - Fifth robotic arm; 402 - Sixth robotic arm; 403 - Seventh robotic arm; 404 - Door assembly test frame; 405 - Second traveling track; 406 - Third traveling track; 407 - Fifth quick-change tooling bracket; 408 - Sixth quick-change tooling bracket; 409 - Seventh quick-change tooling bracket; 410 - Suction cup handling tooling; 411 - Control cabinet. Detailed Implementation

[0058] The present invention will be further described below with reference to the accompanying drawings:

[0059] The present invention provides a rail transit vehicle door maintenance system, as shown in Figures 1 and 2, which includes a door maintenance area 100, a small parts disassembly and assembly area 200, a drive mechanism parts disassembly and assembly area 300, and a door assembly and testing area 400. These four areas have clear division of labor and work together in an orderly manner to form an organic whole. Specifically, the door panel inspection area 100 is equipped with a first robotic arm 101 and an inspection and straightening table 102. The first robotic arm 101 can pick up the door panel 103 to be inspected and place it on the inspection and straightening table 102 for inspection and straightening to form a door panel 106 to be assembled. The small parts disassembly and assembly area 200 includes a second robotic arm 201 and a small parts disassembly and assembly table 202. The second robotic arm 201 can pick up small parts and place them on the small parts disassembly and assembly table 202 for disassembly and assembly. The drive mechanism component disassembly and assembly area 300 includes a third robotic arm 301, a fourth robotic arm 302, and a drive mechanism component disassembly and assembly table 303. The third robotic arm 301 picks up drive mechanism components and cooperates with the fourth robotic arm 302 to disassemble and assemble the drive mechanism components to be inspected on the drive mechanism component disassembly and assembly table 303. The door assembly and testing area 400 includes a fifth robotic arm 4. 01. The sixth robotic arm 402, the seventh robotic arm 403, and the door assembly test frame 404 are used. The seventh robotic arm 403 is used to pick up the door leaf 106 to be assembled and fix the door leaf 106 to be assembled onto the door assembly test frame 404. The fifth robotic arm 401 is used to pick up the disassembled and assembled small parts and install the disassembled and assembled small parts onto the door leaf 106 to be assembled. The sixth robotic arm 402 is used to pick up the disassembled and assembled drive mechanism parts and install the disassembled and assembled drive mechanism parts onto the door leaf 106 to be assembled. The door assembly test frame 404 is equipped with an opening and closing test device to perform opening and closing tests on the assembled door leaf. The first robotic arm 101, the second robotic arm 201, the third robotic arm 301, the fourth robotic arm 302, the fifth robotic arm 401, the sixth robotic arm 402, and the seventh robotic arm 403 are controlled by a controller in the control cabinet 411. The controller uses an existing algorithm. By cooperating with multiple robotic arms, the process of door panel inspection, assembly and testing has been automated, enabling parallel operation in multiple areas, improving inspection efficiency and quality, and ensuring operational safety.

[0060] The door inspection area 100 is equipped with a first storage rack 104 and a second storage rack 105. The first storage rack 104 is used to store door panels 103 to be inspected, and the second storage rack 105 is used to store door panels 106 to be assembled. This provides dedicated categorized storage space for door panels 103 to be inspected and door panels 106 to be assembled. This categorized storage method facilitates managers to quickly find the required door panels, improving the efficiency and accuracy of door panel management. Two inspection and straightening tables 102 are provided, with a first robotic arm 101 positioned between the two tables. Depending on the allocation of inspection tasks, the first robotic arm 101 can simultaneously provide services to both inspection and straightening tables 102, effectively improving inspection efficiency. The first robotic arm 101 travels on the first travel track 107, improving its working range and flexibility. The first robotic arm 101 is equipped with a first quick-change interface, and a first quick-change tooling bracket 108 is located on one side of the inspection and correction table 102. The first quick-change tooling bracket 108 has various quick-change tools, which can be connected to the first robotic arm 101 through the first quick-change interface. The first quick-change interface and the various quick-change tools allow the first robotic arm 101 to quickly change tools according to different operational needs, improving its versatility and reducing downtime caused by tooling changes, further improving maintenance efficiency.

[0061] The first quick-change fixture includes a suction cup fixture 109 for adsorbing and transporting the door leaf 103 to be inspected. The suction cup fixture 109 is simple and convenient to operate; the first robotic arm 101 can quickly and accurately adsorb the suction cup onto the door leaf and move it to the inspection and straightening table 102 or other designated locations, greatly improving the efficiency and safety of door leaf transport. The first robotic arm 101 is equipped with a three-dimensional scanning sensor (not shown), which is electrically connected to the controller. The inspection and straightening table 102 is equipped with a straightening fixture 110, and the three-dimensional scanning sensor is electrically connected to the inspection and straightening table 102. This allows the three-dimensional scanning sensor to scan and detect the external dimensions of the door leaf 103 to be inspected and then feed the signal back to the inspection and straightening table 102, so that the straightening fixture 110 can straighten the door leaf. The three-dimensional scanning sensor, controller, and inspection and straightening table 102 are electrically connected, forming a highly efficient detection and feedback system. When inspecting the dimensions of the door leaf 103 under inspection, the 3D scanning sensor can quickly and accurately scan various parts of the door leaf to obtain its 3D dimensional data. This data is transmitted to the controller in real time via electrical signals. After analyzing and processing the data, the controller feeds back the specific deformation to the inspection and straightening table 102. The straightening fixture 110 on the inspection and straightening table 102 straightens the door leaf according to the actual deformation, ensuring that the door leaf can be restored to its normal dimensions. This precise inspection and straightening method greatly improves the accuracy and reliability of the straightening compared to traditional manual inspection and experience-based straightening, ensuring the quality of the door leaf. The door leaf inspection area 100 is also equipped with a paint touch-up booth 111, which contains a paint touch-up device for touching up the paint on the door leaf 103 under inspection. Through paint touch-up treatment, not only is the appearance quality of the door leaf guaranteed, but the corrosion resistance and service life of the door leaf are also improved.

[0062] The small parts disassembly and assembly area 200 includes a small parts tray 203, a second quick-change tooling bracket 204, and a small parts rotary storage unit 205. The small parts tray 203 stably holds and stores various small parts. The second robotic arm 201 has a second quick-change interface, and the second quick-change tooling bracket 204 has various second quick-change toolings that can be connected to the second robotic arm 201 via the second quick-change interface. The second robotic arm 201 is equipped with a second vision sensor, which is connected to a controller. The second vision sensor performs visual inspection on the disassembled and assembled small parts. The second robotic arm 201 places qualified small parts into the small parts rotary storage unit 205, and unqualified small parts into the scrap area of ​​the small parts tray 203. The second vision sensor performs visual inspection on the disassembled and assembled small parts, automating quality inspection. The second vision sensor can quickly and accurately detect the appearance quality, dimensional accuracy, and other indicators of the small parts. During the inspection process, the second vision sensor compares and analyzes the acquired image data with preset standard images to determine whether the small parts are qualified. For qualified small parts, the second robotic arm 201 places them into the small parts rotary storage unit 205; for unqualified small parts, the second robotic arm 201 places them into the scrap area of ​​the small parts tray 203 for subsequent rework or scrapping. This automated quality inspection method not only improves inspection efficiency and accuracy but also reduces subjective errors from manual inspection, ensuring the quality stability of the small parts.

[0063] A cleaning and oiling station 206 is provided between the small parts disassembly and assembly area 200 and the drive mechanism parts disassembly and assembly area 300. During the use of rail transit doors, small parts accumulate dust, oil, and other impurities, which affect their performance and quality. Cleaning and oiling can effectively extend the service life of small parts and improve their performance and quality. The second quick-change tooling includes a disassembly lever manual tooling, a second pick-up tooling, and a small parts cleaning tooling. The second pick-up tooling is used by the second robotic arm 201 to pick up the small parts to be inspected from the small parts tray 203 and place them on the small parts disassembly and assembly station 202. The disassembly lever manual tooling is used by the second robotic arm 201 to disassemble and assemble the small parts on the small parts disassembly and assembly station 202. The small parts cleaning tooling is used by the second robotic arm 201 to place the disassembled small parts on the cleaning and oiling station 206 for cleaning and oiling. By quickly changing these toolings, the second robotic arm 201 can continuously complete multiple tasks at one workstation, improving work efficiency.

[0064] The drive mechanism component disassembly and assembly area 300 is equipped with a drive mechanism component tray 304, a third quick-change tooling bracket 305, a fourth quick-change tooling bracket 306, and a drive mechanism component rotary storage unit 307. The third robotic arm 301 is equipped with a third quick-change interface, and the third quick-change tooling bracket 305 is equipped with various third quick-change toolings, which can be connected to the third robotic arm 301 through the third quick-change interface. The fourth robotic arm 302 is equipped with a fourth quick-change interface, and the fourth quick-change tooling bracket 306 is equipped with various fourth quick-change toolings, which can be connected to the fourth robotic arm 302 through the fourth quick-change interface. By quickly changing tooling, such as different sizes of sockets, screwdrivers, and clamps, the third robotic arm 301 and the fourth robotic arm 302 can adapt to various complex work scenarios and complete tasks such as picking up, disassembling, and assembling drive mechanism components. This flexibility enables the robotic arms to efficiently complete the disassembly and assembly of drive mechanism components, improving work efficiency and quality. The fourth robotic arm 302 is equipped with a fourth vision sensor, which is used for visual inspection of the disassembled drive mechanism components. The fourth vision sensor is connected to the controller. This automated quality inspection process allows the fourth vision sensor to visually inspect the disassembled drive mechanism components. During inspection, the fourth vision sensor compares and analyzes the acquired image data with a preset standard model to determine whether the drive mechanism components are qualified. Simultaneously, the fourth vision sensor can also feed the inspection results back to the controller in real time. The controller adjusts and optimizes subsequent assembly processes based on the inspection results, ensuring the assembly quality of the drive mechanism components.

[0065] The third quick-change fixture includes a third pick-up fixture and a fixing fixture. The third robotic arm 301 uses the third pick-up fixture to pick up the drive mechanism component to be repaired from the drive mechanism component tray 304 and place it on the drive mechanism component disassembly and assembly table 303. The fourth quick-change fixture includes a fourth pick-up fixture, a disassembly fixture, a drive mechanism component cleaning fixture, and a pressing fixture. When the drive mechanism component to be repaired is disassembled or assembled, the third robotic arm 301 uses the fixing fixture to fix the drive mechanism component to be repaired on the drive mechanism component disassembly and assembly table 303. The fourth robotic arm 302 uses the disassembly fixture to disassemble or assemble the drive mechanism component to be repaired. The fourth robotic arm 302 uses the drive mechanism component cleaning fixture to place the disassembled drive mechanism component into the cleaning and oiling table 206 for cleaning and oiling. The drive mechanism component cleaning fixture can cooperate with the cleaning equipment to perform deep cleaning on the disassembled components, removing surface oil and impurities. The pressing fixture is used to press and lock the assembled drive mechanism components to ensure that the connection between the components is firm and reliable. When the drive mechanism component to be inspected is assembled, the fourth robotic arm 302 uses a pressing fixture to lock and fix the assembled drive mechanism component, and then uses a fourth picking fixture to place the assembled drive mechanism component into the drive mechanism component rotary storage unit 307. The third robotic arm 301 and the fourth robotic arm 302 work together to efficiently complete the disassembly and assembly of the drive mechanism component. During disassembly, the third robotic arm 301 is responsible for picking up and fixing the drive mechanism component, while the fourth robotic arm 302 is responsible for disassembly operations using the disassembly fixture. During assembly, the third robotic arm 301 and the fourth robotic arm 302 use the picking fixture and assembly fixture respectively to collaboratively complete operations such as picking up, docking, and locking the component. This cooperative working mode fully utilizes the advantages of the two robotic arms, improves the parallelism and coordination of the operation, reduces the operation time and labor intensity, and ensures the efficient and accurate completion of the disassembly and assembly of the drive mechanism component.

[0066] The door assembly test area 400 is equipped with a second travel track 405, a third travel track 406, a fifth quick-change tooling bracket 407, a sixth quick-change tooling bracket 408, and a seventh quick-change tooling bracket 409. The door assembly test frame 404 is located between the second travel track 405 and the third travel track 406. The fifth robotic arm 401 and the sixth robotic arm 402 travel on the second travel track 405, and the fourth robotic arm 302 travels on the third travel track 406. This layout design fully considers the working range and ease of operation of the robotic arms, allowing the three robotic arms to move freely on their respective tracks without interfering with each other. At the same time, the door assembly test frame 404 is located in the middle position, which facilitates the three robotic arms to accurately install small parts and drive mechanism components onto the door, improving the efficiency and accuracy of the assembly operation. The fifth robotic arm 401 is equipped with a fifth quick-change interface, and a fifth quick-change tooling bracket 407 is equipped with various fifth quick-change toolings. These toolings can be connected to the fifth robotic arm 401 through the fifth quick-change interface. The sixth robotic arm 402 is equipped with a sixth quick-change interface, and a sixth quick-change tooling bracket 408 is equipped with various sixth quick-change toolings. These toolings can be connected to the sixth robotic arm 402 through the sixth quick-change interface. The seventh robotic arm 403 is equipped with a seventh quick-change interface, and a seventh quick-change tooling bracket 409 is equipped with various seventh quick-change toolings. These toolings can be connected to the seventh robotic arm 403 through the seventh quick-change interface. Equipped with various quick-change toolings, the robotic arms can quickly change tooling according to operational needs.

[0067] The seventh quick-change tooling includes a suction cup handling tooling 410. The seventh robotic arm 403 uses the suction cup handling tooling 410 to fix the door panel 106 to be assembled onto the door assembly test rack 404. The fifth quick-change tooling includes a fifth picking tooling and a locking tooling. The fifth robotic arm 401 uses the fifth picking tooling to place small parts from the small parts rotary storage 205 onto the door assembly test rack 404. When assembling the door panel, the fifth robotic arm 401 uses the locking tooling to secure the door panel. The sixth quick-change tooling includes a sixth picking tooling and an assembly tooling. The sixth robotic arm 402 uses the sixth picking tooling to place the drive mechanism components from the drive mechanism component rotary storage 307 onto the door assembly test rack 404. When assembling the door panel, the sixth robotic arm 402 uses the assembly tooling to dock and install the door panel and drive mechanism components, thus realizing the assembly of the door and improving the quality and efficiency of door assembly. The car door assembly test rack 404 is equipped with a car door opening and closing test device, which can perform opening and closing tests on the assembled car doors. The seventh robotic arm 403 is equipped with a seventh vision sensor to collect the opening and closing data of the car doors. The seventh vision sensor is connected to the controller. The setup of the car door opening and closing test device and the seventh vision sensor allows for the automation of testing and ensures the quality of the car doors by automating the opening and closing process and collecting data. The car door opening and closing test can simulate the opening and closing actions of the car door in actual operation, accurately testing parameters such as opening and closing force, opening and closing speed, opening and closing angle, and sealing performance. The seventh vision sensor can monitor the opening and closing process of the car door in real time, collect data, and transmit the collected data to the controller. The controller analyzes and processes the data to determine whether the opening and closing performance of the car door meets the design requirements. If problems such as uneven opening and closing or jamming are detected, the controller can issue an alarm in a timely manner and record relevant data for subsequent maintenance and adjustment. This automated testing method not only improves testing efficiency and accuracy, but also enables the timely detection of potential problems in the car doors, ensuring their quality and safety.

[0068] This system is equipped with multiple robotic arms, each with a clearly defined role and working collaboratively. From picking up the door panel to disassembling and assembling small parts and drive mechanism components, and finally to the door assembly and testing, the entire process is automated, significantly improving maintenance efficiency and reducing manual operation time and labor intensity. Four areas can simultaneously perform door panel maintenance, small part disassembly and assembly, and drive mechanism component disassembly and assembly, significantly shortening the overall maintenance cycle and increasing door maintenance capacity. Using 3D scanning sensors and multiple vision sensors, the system accurately detects the door panel's dimensions, small parts, and drive mechanism components, promptly identifying deformation, damage, and other issues. This provides a basis for precise correction and repair, effectively ensuring maintenance quality.

[0069] Another aspect of the present invention provides a maintenance method for a rail transit vehicle door panel maintenance system. Using the above-described rail transit vehicle door panel maintenance system, the method specifically includes the following steps:

[0070] S1, Door leaf maintenance work:

[0071] S1-1, The external transfer trolley moves multiple door panels 103 to be inspected to the door panel inspection area 100 and places them on the first storage rack 104.

[0072] S1-2, the first robotic arm 101 uses a suction cup fixture 109 to pick up the door leaf 103 to be inspected and place it on the inspection and straightening table 102.

[0073] S1-3, the three-dimensional scanning sensor on the first robotic arm 101 scans and detects the external dimensions of the door leaf 103 to be inspected, and feeds the scan data back to the inspection and correction table 102.

[0074] S1-4, the inspection and straightening table 102 activates the straightening fixture 110 on the deformed area based on the scanned detection data, in order to perform press-fit straightening on the deformed area.

[0075] S1-5, the corrected door leaf 103 to be inspected is scanned and detected again by the three-dimensional scanning sensor on the first robotic arm 101;

[0076] S1-6, the door leaf that has passed the correction is transferred to the paint repair room 111 by the first robotic arm 101; the paint repair device in the paint repair room 111 repairs the door leaf 103 to be repaired to form the door leaf 106 to be assembled.

[0077] S1-7, the first robotic arm 101 uses the suction cup fixture 109 to transfer the door leaf 106 to be assembled to the second storage rack 105, so that it can wait for assembly;

[0078] S2, Small parts disassembly and repair:

[0079] S2-1, The second robotic arm 201 picks up the small parts to be inspected from the small parts tray 203 using the second picking tool and places them on the small parts disassembly and assembly table 202;

[0080] S2-2, The second robotic arm 201 manually disassembles the small parts on the small parts disassembly and assembly table 202 using a disassembly lever;

[0081] S2-3, the second robotic arm 201 uses a small parts cleaning fixture to place the disassembled small parts on the cleaning and oiling station 206 for cleaning and oiling.

[0082] S2-4, The second vision sensor on the second robotic arm 201 performs visual inspection on the small parts after cleaning and oiling. Qualified small parts are ready for assembly, while unqualified small parts are placed in the scrap area of ​​the small parts tray 203 by the second robotic arm 201.

[0083] S3, Small Parts Assembly:

[0084] S3-1, qualified small parts are manually assembled using the disassembly lever on the second robotic arm 201, and the assembled small parts are placed in the small parts rotary storage 205 by the second robotic arm 201 to wait for the door to be assembled.

[0085] S4, Disassembly and inspection of drive mechanism components:

[0086] S4-1, the third robotic arm 301 takes the drive mechanism component to be repaired from the drive mechanism component tray 304 through the third picking tool and places it on the drive mechanism component disassembly and assembly table 303.

[0087] S4-2, the third robotic arm 301 fixes the drive mechanism component to be repaired on the disassembly and assembly table 303 using a fixing fixture, and the fourth robotic arm 302 disassembles the drive mechanism component to be repaired using a disassembly fixture. The third robotic arm 301 and the fourth robotic arm 302 work together to complete the disassembly of the drive mechanism component to be repaired.

[0088] S4-3 After the drive mechanism component to be inspected is disassembled, the fourth robotic arm 302 uses the drive mechanism component cleaning fixture to place the disassembled drive mechanism component into the cleaning and oiling station 206 for cleaning and oiling.

[0089] S4-4, the fourth vision sensor on the fourth robotic arm 302 performs visual inspection on the cleaned and oiled drive mechanism components. Qualified drive mechanism components are ready for assembly, while unqualified ones are placed in the scrap area of ​​the drive mechanism component tray 304 and the new drive mechanism components are transferred to the drive mechanism component disassembly and assembly area 300 by an external transfer vehicle.

[0090] S5, Assembly of drive mechanism components:

[0091] S5-1, the fourth robotic arm 302 picks up qualified drive mechanism components through the fourth picking fixture;

[0092] S5-2, the third robotic arm 301 fixes the drive mechanism component to be repaired on the disassembly and assembly table 303 of the drive mechanism component through the fixing fixture, and the fourth robotic arm 302 assembles the drive mechanism component to be repaired through the disassembly fixture. The third robotic arm 301 and the fourth robotic arm 302 cooperate to complete the assembly of the drive mechanism component to be repaired.

[0093] S5-3, the fourth robotic arm 302 uses a press-fitting fixture to lock and fix the drive mechanism components to form an assembled drive mechanism component;

[0094] S5-4, the fourth robotic arm 302 uses the fourth picking tool to put the assembled drive mechanism components into the drive mechanism component rotary storage 307 to wait for the door panel to be assembled.

[0095] S6, Door assembly:

[0096] S6-1, The seventh robotic arm 403 uses a suction cup transport fixture 410 to fix the door panel 106 to be assembled onto the door assembly test frame 404;

[0097] S6-2, the fifth robotic arm 401 uses the fifth picking tool to place the small parts on the small parts rotary storage 205 onto the door assembly test rack 404;

[0098] S6-3, the sixth robotic arm 402 uses the sixth picking tool to place the drive mechanism component in the rotary storage 307 of the drive mechanism component onto the door assembly test rack 404;

[0099] S6-4, the sixth robotic arm 402 uses assembly fixtures to dock and install the door panel and drive mechanism components;

[0100] S6-5, the fifth robotic arm 401 uses a locking fixture to assemble small parts onto the door panel and fasten the door panel to form an assembled car door;

[0101] S7, door simulation test:

[0102] S7-1, connect the assembled car door to the car door opening and closing test device, the seventh robotic arm 403 triggers the car door opening and closing test device and performs the opening and closing test, and the seventh vision sensor on the seventh robotic arm 403 collects the opening and closing data of the car door.

[0103] S7-2, the sixth robotic arm 402 disassembles the drive mechanism components on the car door using an assembly fixture; the fifth robotic arm 401 disassembles the small parts on the car door using a locking fixture, and then the seventh robotic arm 403 transfers the qualified door panels to the second storage rack 105; for the unqualified door panels, the disassembled small parts and drive mechanism components are re-inspected, and steps S2-S7 are repeated, the test data is uploaded to the controller and a traceability report is generated.

[0104] It should be noted that the various robotic arms, the tooling connected to each robotic arm, the quick-change interface, and the connection of the tooling to the robotic arm through the quick-change interface in this invention are all existing technologies and will not be described in detail here.

[0105] The above embodiments are merely illustrative of the concept and implementation of the present invention and are not intended to limit it. Under the concept of the present invention, technical solutions without substantial changes are still within the scope of protection.

Claims

1. A door panel maintenance system for rail transit vehicles, characterized in that: The vehicle includes a door panel inspection area, a small parts disassembly and assembly area, a drive mechanism component disassembly and assembly area, and a door assembly and testing area. The door panel inspection area is equipped with a first robotic arm and a repair and straightening table. The first robotic arm can pick up the door panel to be inspected and place it on the repair and straightening table for inspection and straightening to form a door panel for assembly. The door panel inspection area also includes a paint touch-up booth equipped with paint touch-up devices for touching up the paint on the door panels to be inspected. The small parts disassembly and assembly area includes a second robotic arm and a small parts disassembly and assembly table. The second robotic arm can pick up small parts and place them on the small parts disassembly and assembly table for disassembly and assembly. The drive mechanism component disassembly and assembly area includes a third robotic arm, a fourth robotic arm, and a drive mechanism component disassembly and assembly table. The third robotic arm picks up drive mechanism components and works with the fourth robotic arm to inspect the components on the drive mechanism component disassembly and assembly table. The drive mechanism components are disassembled and assembled. The door assembly test area includes a fifth robotic arm, a sixth robotic arm, a seventh robotic arm, and a door assembly test frame. The seventh robotic arm is used to pick up the door panel to be assembled and fix it to the door assembly test frame. The fifth robotic arm is used to pick up the disassembled and assembled small parts and install them onto the door panel to be assembled. The sixth robotic arm is used to pick up the disassembled and assembled drive mechanism components and install them onto the door panel to be assembled. The door assembly test frame is equipped with an opening and closing test device to perform opening and closing tests on the assembled door panel. The first, second, third, fourth, fifth, sixth, and seventh robotic arms are controlled by a controller in the control cabinet. The controller controls and monitors the process progress and equipment operating status of each area in real time.

2. The rail transit vehicle door maintenance system according to claim 1, characterized in that: The door inspection area is equipped with a first storage rack and a second storage rack. The first storage rack is used to store door panels to be inspected, and the second storage rack is used to store door panels to be assembled. There are two inspection and correction tables. The first robotic arm is located between the two inspection and correction tables and travels on a first travel track. The first robotic arm is equipped with a first quick-change interface. A first quick-change tooling bracket is provided on one side of the inspection and correction table. The first quick-change tooling bracket is equipped with various first quick-change tools, which can be connected to the first robotic arm through the first quick-change interface.

3. The rail transit vehicle door maintenance system according to claim 2, characterized in that: The first quick-change tooling includes a suction cup tooling for adsorbing and transporting the door leaf to be inspected. The first robotic arm is equipped with a three-dimensional scanning sensor, which is electrically connected to the controller. The inspection and correction table is equipped with a correction tooling, and the three-dimensional scanning sensor is electrically connected to the inspection and correction table. This allows the three-dimensional scanning sensor to scan and detect the external dimensions of the door leaf to be inspected and then feed the signal back to the inspection and correction table so that the correction tooling can correct the door leaf to be inspected.

4. The rail transit vehicle door maintenance system according to claim 1, characterized in that: The small component disassembly and assembly area is equipped with a small component tray, a second quick-change tooling bracket, and a small component rotary storage unit. The second robotic arm is equipped with a second quick-change interface, and the second quick-change tooling bracket is equipped with various second quick-change toolings. These toolings can be connected to the second robotic arm through the second quick-change interface. The second robotic arm is equipped with a second vision sensor, which is connected to a controller. The second vision sensor is used to visually inspect the disassembled and assembled small components. The second robotic arm places qualified small components into the small component rotary storage unit and unqualified small components into the scrap area of ​​the small component tray.

5. The rail transit vehicle door maintenance system according to claim 4, characterized in that: A cleaning and oiling station is provided between the small parts disassembly and assembly area and the drive mechanism parts disassembly and assembly area. The second quick-change fixture includes a disassembly lever manual fixture, a second picking fixture, and a small parts cleaning fixture. The second picking fixture is used by the second robotic arm to pick up the small parts to be repaired from the small parts tray and place them on the small parts disassembly and assembly station. The disassembly lever manual fixture is used by the second robotic arm to disassemble and assemble the small parts on the small parts disassembly and assembly station. The small parts cleaning fixture is used by the second robotic arm to place the disassembled small parts on the cleaning and oiling station for cleaning and oiling.

6. The rail transit vehicle door maintenance system according to claim 1, characterized in that: The drive mechanism component disassembly and assembly area is equipped with a drive mechanism component tray, a third quick-change tooling bracket, a fourth quick-change tooling bracket, and a rotary storage unit for drive mechanism components. The third robotic arm is equipped with a third quick-change interface, and the third quick-change tooling bracket is equipped with various third quick-change toolings that can be connected to the third robotic arm through the third quick-change interface. The fourth robotic arm is equipped with a fourth quick-change interface, and the fourth quick-change tooling bracket is equipped with various fourth quick-change toolings that can be connected to the fourth robotic arm through the fourth quick-change interface. The fourth robotic arm is equipped with a fourth vision sensor, which is used for visual inspection of the disassembled drive mechanism components and is connected to a controller.

7. The rail transit vehicle door maintenance system according to claim 6, characterized in that: The third quick-change fixture includes a third picking fixture and a fixing fixture. The third robotic arm uses the third picking fixture to pick up the drive mechanism component to be inspected from the drive mechanism component tray and place it on the drive mechanism component disassembly and assembly table. The fourth quick-change fixture includes a fourth picking fixture, a disassembly fixture, a drive mechanism component cleaning fixture, and a pressing fixture. When the drive mechanism component to be inspected is disassembled or assembled, the third robotic arm uses the fixing fixture to fix the drive mechanism component to be inspected on the drive mechanism component disassembly and assembly table. The fourth robotic arm uses the disassembly fixture to disassemble or assemble the drive mechanism component to be inspected. The fourth robotic arm uses the drive mechanism component cleaning fixture to place the disassembled drive mechanism component into the cleaning and oiling table for cleaning and oiling. When the drive mechanism component to be inspected is assembled, the fourth robotic arm uses the pressing fixture to lock and fix the assembled drive mechanism component and uses the fourth picking fixture to place the assembled drive mechanism component into the drive mechanism component rotary storage unit.

8. The rail transit vehicle door maintenance system according to claim 7, characterized in that: The door assembly test area is equipped with a second travel track, a third travel track, a fifth quick-change tooling bracket, and a sixth quick-change tooling bracket. The door assembly test frame is set between the second and third travel tracks. The fifth and sixth robotic arms travel on the second travel track, and the fourth robotic arm travels on the third travel track. The fifth robotic arm is equipped with a fifth quick-change interface, and the fifth quick-change tooling bracket is equipped with various fifth quick-change tools that can be connected to the fifth robotic arm through the fifth quick-change interface. The sixth robotic arm is equipped with a sixth quick-change interface, and the sixth quick-change tooling bracket is equipped with various sixth quick-change tools that can be connected to the sixth robotic arm through the sixth quick-change interface. The seventh robotic arm is equipped with a seventh quick-change interface, and the seventh quick-change tooling bracket is equipped with various seventh quick-change tools that can be connected to the seventh robotic arm through the seventh quick-change interface.

9. The rail transit vehicle door maintenance system according to claim 8, characterized in that: The seventh quick-change tooling includes a suction cup transport tooling. The seventh robotic arm uses the suction cup transport tooling to fix the door panel to be assembled onto the door assembly test rack. The fifth quick-change tooling includes a fifth pick-up tooling and a locking tooling. The fifth robotic arm uses the fifth pick-up tooling to place small parts from the small parts rotary storage unit onto the door assembly test rack. When assembling the door panel, the fifth robotic arm uses the locking tooling to secure the door panel. The sixth quick-change tooling includes a sixth pick-up tooling and an assembly tooling. The sixth robotic arm uses the sixth pick-up tooling to place the drive mechanism components from the drive mechanism component rotary storage unit onto the door assembly test rack. When assembling the door panel, the sixth robotic arm uses the assembly tooling to assemble and install the door panel and drive mechanism components. The door assembly test rack is equipped with a door opening and closing test device, which can perform opening and closing tests on the assembled door. The seventh robotic arm is equipped with a seventh vision sensor to collect door opening and closing data. The seventh vision sensor is connected to a controller.

10. A maintenance method for a rail transit vehicle door panel maintenance system, using the rail transit vehicle door panel maintenance system according to any one of claims 1 to 9, characterized in that: Includes the following steps: S1, Door Inspection Operation: S1-1, An external transport trolley moves multiple doors to be inspected to the door inspection area and places them on the first storage rack. S1-2, The first robotic arm uses a suction cup fixture to pick up the doors to be inspected and place them on the inspection and straightening table. S1-3, The 3D scanning sensor on the first robotic arm scans and detects the external dimensions of the doors to be inspected and feeds the scan data back to the inspection and straightening table. S1-4, The inspection and straightening table activates the straightening fixture on the deformed areas based on the scan data to press and straighten the deformed areas. S1-5, The straightened doors are scanned again by the 3D scanning sensor on the first robotic arm. S1-6, The straightened doors are transported by the first robotic arm. The process proceeds to the paint repair booth. Inside, a paint repair device applies paint to the door panel to be repaired, preparing it for assembly. In steps S1-7, the first robotic arm uses a suction cup fixture to transfer the door panel to a second storage rack, awaiting assembly. Step S2, small parts disassembly and repair: In step S2-1, the second robotic arm uses a second pick-up fixture to retrieve the small parts to be repaired from the small parts tray and place them on the small parts disassembly and assembly table. In step S2-2, the second robotic arm uses a disassembly wrench to disassemble the small parts on the disassembly and assembly table. In step S2-3, the second robotic arm uses a small parts cleaning fixture to place the disassembled small parts on a cleaning and oiling table for cleaning and oiling. In step S2-4, the second vision sensor on the second robotic arm performs visual inspection of the cleaned and oiled small parts. Qualified small parts await assembly, while unqualified small parts are placed in the scrap area of ​​the small parts tray by the second robotic arm; S3, Small parts assembly: S3-1, qualified small parts are manually assembled using the disassembly lever on the second robotic arm, and the assembled small parts are placed in the small parts rotary storage unit by the second robotic arm to await door assembly; S4, Drive mechanism component disassembly and repair: S4-1, the third robotic arm uses the third pick-up fixture to pick up the drive mechanism component to be repaired from the drive mechanism component tray and place it on the drive mechanism component disassembly and assembly table; S4-2, the third robotic arm uses the fixing fixture to fix the drive mechanism component to be repaired on the drive mechanism component disassembly and assembly table, and the fourth robotic arm uses the disassembly fixture to fix the drive mechanism to be repaired. The components are disassembled, and the third and fourth robotic arms work together to disassemble the drive mechanism components to be inspected; S4-3, after the drive mechanism components to be inspected are disassembled, the fourth robotic arm uses a drive mechanism component cleaning fixture to place the disassembled drive mechanism components into a cleaning and oiling station for cleaning and oiling; S4-4, the fourth vision sensor on the fourth robotic arm performs visual inspection on the cleaned and oiled drive mechanism components. Qualified drive mechanism components are ready for assembly, while unqualified ones are placed in the scrap area of ​​the drive mechanism component tray and transported by an external transfer vehicle to the drive mechanism component disassembly and assembly area; S5, drive mechanism component assembly: S5-1, the fourth robotic arm uses a fourth picking fixture to pick up qualified drive mechanism components;S5-2, The third robotic arm uses a fixing fixture to secure the drive mechanism component to be inspected on the disassembly and assembly table, while the fourth robotic arm uses a disassembly fixture to assemble the drive mechanism component. The third and fourth robotic arms work together to complete the assembly of the drive mechanism component to be inspected. S5-3, The fourth robotic arm uses a pressing fixture to lock and secure the drive mechanism component, forming an assembled drive mechanism component. S5-4, The fourth robotic arm uses a fourth pick-up fixture to place the assembled drive mechanism component into the drive mechanism component rotary storage unit, awaiting door assembly. S6, Door Assembly: S6-1, The seventh robotic arm uses a suction cup transport fixture to fix the door panel to be assembled onto the door assembly test rack. S6-2, The fifth robotic arm uses a fifth pick-up fixture to place small parts from the small parts rotary storage unit onto the door assembly test rack. S6-3, The sixth robotic arm uses a sixth pick-up fixture to place the drive mechanism component from the drive mechanism component rotary storage unit. The mechanical components are placed on the door assembly test rack; S6-4, the sixth robotic arm assembles the door leaf and drive mechanism components using the assembly fixture; S6-5, the fifth robotic arm assembles the small parts onto the door leaf using the locking fixture and secures the door leaf to form an assembled door; S7, door simulation test: S7-1, the assembled door is connected to the door opening and closing test device, the seventh robotic arm triggers the door opening and closing test device and performs the opening and closing test, the seventh vision sensor on the seventh robotic arm collects the door opening and closing data; S7-2, the sixth robotic arm disassembles the drive mechanism components on the door using the assembly fixture; the fifth robotic arm disassembles the small parts on the door using the locking fixture, and then the seventh robotic arm transfers the qualified door leaf to the second storage rack; for the unqualified door leaf, the disassembled small parts and drive mechanism components are re-inspected, and steps S2-S7 are repeated, the test data is uploaded to the controller and a traceability report is generated.

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