Flexible vehicle door assembly automatic assembly line suitable for multi-vehicle-type mixed line

Abstract

The invention discloses a flexible automobile door assembly automatic assembly line suitable for multi-vehicle-type mixed line, and relates to the technical field of automobile assembly, and the flexible automobile door assembly automatic assembly line comprises an annular conveying line, an automobile door assembly platform module, a visual compensation module, a collaborative assembly robot module and a control module, through the annular conveying line, the vehicle door assembling platform module, the visual compensation module and the collaborative assembling robot module which are modularly designed, rapid expansion and recombination of the production line are achieved, the multi-vehicle-type mixed-line production requirement can be flexibly met, the flexibility and adaptability of the production line are remarkably improved, meanwhile, efficient collaboration and precise control among all the modules are achieved, and the production efficiency is improved. And the assembling precision and efficiency of the vehicle door assembly are greatly improved. A 3D laser visual system of the visual compensation module ensures accurate butt joint of assembly of all parts, and the assembly quality problem caused by position deviation is avoided.

Description

Technical Field

[0001] This invention relates to the field of automotive assembly technology, and more specifically to a flexible automated assembly line for door assemblies that is adaptable to mixed production lines of multiple vehicle models. Background Technology

[0002] Currently, most automated assembly lines for automotive door assemblies employ dedicated, fixed layouts, such as linear or rotary assembly lines for a single vehicle model. Their tooling, fixtures, conveying systems, and positioning mechanisms are all designed for specific models, lacking flexibility. For instance, common assembly lines typically use fixed-position assembly robots, dedicated clamping fixtures, and rigid conveyor tracks. While this enables efficient production of a single model, it cannot adapt to the needs of multi-model mixed-line production. Some existing technologies attempt to improve flexibility by increasing the robot's degrees of freedom or using adjustable fixtures.

[0003] However, such solutions still have obvious limitations. The production line operates independently, and the fixtures and programs need to be readjusted when switching models, which leads to a longer production cycle. The positioning system mostly relies on mechanical hard positioning, which has low accuracy and poor adaptability. The error compensation during the assembly process is insufficient, which can easily lead to a decrease in assembly accuracy and requires manual intervention for correction. To address this, we propose a flexible automatic assembly line for door assemblies that can adapt to mixed production lines of multiple models. Summary of the Invention

[0004] The purpose of this invention is to address the problems of production lines operating independently, requiring readjustment of fixtures and programs when switching vehicle models, leading to extended production cycles; positioning systems often rely on mechanical hard positioning, resulting in low accuracy, poor adaptability, and insufficient error compensation during assembly, which easily leads to decreased assembly accuracy and requires manual intervention for correction. This invention provides a flexible automated assembly line for door assemblies that is adaptable to mixed production lines of multiple vehicle models.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution: A flexible automated assembly line for door assemblies that can adapt to mixed production lines of multiple vehicle models includes a circular conveyor line, a door assembly platform module, a vision compensation module, a collaborative assembly robot module, and a control module. The circular conveyor line adopts a vertically arranged circular guide rail structure. A linear motor is installed on the inner side of the guide rail to carry and transport the door assembly workpieces. The guide rail is designed in sections, with each section corresponding to a workstation, including a loading workstation, a door lifting mechanism assembly workstation, a door inner panel and glass assembly workstation, a trim strip and sealing strip assembly workstation, and an unloading workstation. During operation, the workpieces are fixed by the door assembly platform module, which moves cyclically along the circular guide rail to achieve continuous transport. The door assembly platform module includes a liftable base and a clamping platform. The liftable base can be adjusted in height by hydraulic or electric means to adapt to the assembly requirements of different height positions of the door. The clamping platform is equipped with quick-change fixtures, which can be replaced with matching fixtures according to vehicle parameters to ensure the stability of the workpiece during the transportation process. The vision compensation module is located at the door lifting mechanism assembly station, the door inner panel and glass assembly station, and the trim and sealing strip assembly station. Each station includes four 3D laser vision systems, each containing a laser sensor and an image processor. The laser sensor has an accuracy of 0.1mm and is used to scan the entire door and the door installation position to obtain actual position data. The image processor calculates the deviation between the actual position and the theoretical model, including the gap value and the relative position, and sends the compensation signal to the collaborative assembly robot module. During operation, the robot first locates the vehicle body position, then measures the relative position of the door, and finally outputs the installation compensation value. The collaborative assembly robot module includes a door lifting mechanism assembly robot, a door inner panel and glass installation robot arm, and a trim and sealing strip installation robot arm, all arranged along the outer periphery of the circular conveyor line. The robot's moving end is equipped with a multi-functional tool head for performing door lifting mechanism assembly, door inner panel and glass installation, and trim and sealing strip installation and fastening. The collaborative assembly robot module automatically corrects its trajectory based on the signal from the vision compensation module.

[0006] The control module, based on the MES system, includes a vehicle model recognition unit, a random mixing logic control unit, and a quality monitoring unit. The control module matches the vehicle model with the assembly operation through the logic program of each workstation, imports the data into a cloud platform, collects data in real time, and forms a closed-loop feedback loop. The liftable base includes a fixed base plate and a top plate, which are connected by a scissor-type lifting mechanism, and the clamping platform is fixedly connected to the top plate.

[0007] Furthermore, the guide rail of the circular conveyor line is equipped with a precision positioning mechanism at each workstation. The precision positioning mechanism uses a pneumatic pin and a conical positioning sleeve. The conical positioning sleeve is opened on the side wall of the fixed base plate, and the pneumatic pin is fixedly installed on the outer side of the circular conveyor line at the position of the conical positioning sleeve on the fixed base plate. The pneumatic pin includes a pneumatic telescopic rod and a conical pin fixedly installed on the top of the telescopic rod. The conical pin matches the conical positioning sleeve to ensure that the door assembly platform module stops accurately when changing between workstations.

[0008] Furthermore, the clamping platform includes a perforated base plate, on which multiple clamp fixing screw holes are formed in a rectangular array, and the quick-change clamp is fixed to the perforated base plate by fixing bolts.

[0009] Furthermore, the workflow of the visual compensation module includes: Step 1: The laser sensor at the assembly station is triggered, and the vision system scans and positions the reference point on the current door assembly; Step 2: Scan the installation positions of the components fixed on the door assembly platform module to obtain their actual three-dimensional coordinates; Step 3: Compare the actual coordinates with the theoretical model to calculate the installation position deviation and relative angle deviation; Step 4: Generate matrix data containing translation compensation in the X, Y, and Z directions and rotation compensation around the Z-axis, and send it to the collaborative assembly robot module.

[0010] Furthermore, the quality monitoring unit of the control module adds a re-inspection station after the hinge tightening process, which uses a laser sensor to re-inspect the flatness of the hinge mounting surface and the hole positions to ensure installation quality.

[0011] Furthermore, the circular conveyor line, door assembly platform module, vision compensation module, and collaborative assembly robot module all adopt a modular design, and the mechanical and electrical interfaces between the modules are standardized, supporting the rapid expansion and reorganization of the production line.

[0012] The beneficial effects of this invention are as follows: This invention, through a modularly designed circular conveyor line, door assembly platform module, vision compensation module, and collaborative assembly robot module, enables rapid expansion and reorganization of the production line. It flexibly adapts to the needs of multi-model mixed-line production, significantly improving the flexibility and adaptability of the production line. Simultaneously, the efficient collaboration and precise control between modules greatly enhance the assembly accuracy and efficiency of the door assembly. The segmented guide rail design and linear motor drive of the circular conveyor line ensure smooth and continuous workpiece transport, reducing waiting time and increasing production cycle time. The liftable base and quick-change fixture of the door assembly platform module allow for rapid switching between door assembly for different car models on the same production line without downtime adjustments, reducing changeover costs and time. The 3D laser vision system of the vision compensation module scans and calculates positional deviations in real time with a high precision of 0.1mm, providing accurate compensation signals to the collaborative assembly robot module, ensuring precise alignment of components and avoiding assembly quality problems caused by positional deviations. The control module, based on the MES system, integrates vehicle model recognition, random mixing logic control, and quality monitoring. It collects data in real time through the cloud platform and forms a closed-loop feedback, which not only ensures the controllability of the assembly process but also provides data support for the continuous optimization of the production line.

[0013] By incorporating a precision positioning mechanism, this invention enables the door assembly platform module to accurately and stably stop at a predetermined position as it moves from one workstation to another, thus avoiding assembly errors caused by inaccurate positioning and further improving assembly precision and reliability.

[0014] The perforated base plate design of this invention allows the installation position of the quick-change fixture to be flexibly adjusted according to actual needs. Simply screw the fixing bolts into the corresponding fixture fixing screw holes. This design not only improves the versatility and adaptability of the clamping platform, but also greatly shortens the time required to change fixtures, further improving the efficiency of the production line. Attached Figure Description

[0015] Figure 1 This is a system block diagram of the present invention; Figure 2 This is a structural schematic diagram of the door assembly platform module of the present invention.

[0016] Reference numerals: 1. Circular conveyor line; 2. Door assembly platform module; 21. Fixed base plate; 22. Scissor lift mechanism; 23. Top plate; 24. Perforated base plate; 25. Quick change fixture; 26. Fixing bolt; 27. Conical positioning sleeve; 3. Vision compensation module; 4. Collaborative assembly robot module; 41. Lifting mechanism installation robot arm; 42. Door inner panel and glass installation robot arm; 43. Trim and sealing strip installation robot arm; 5. Control module. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0018] Please see Figures 1-2 The present invention provides a flexible automatic assembly line for door assemblies that is adaptable to mixed production lines of multiple vehicle models, including a circular conveyor line 1, a door assembly platform module 2, a vision compensation module 3, a collaborative assembly robot module 4, and a control module 5. The circular conveyor line 1 adopts a vertically arranged circular guide rail structure. A linear motor is installed on the inner side of the guide rail to carry and transport the door assembly workpiece. The guide rail is designed in sections, with each section corresponding to a workstation, including a loading workstation, a door lifting mechanism assembly workstation, a door inner panel and glass assembly workstation, a trim strip and sealing strip assembly workstation, and an unloading workstation. During operation, the workpiece is fixed by the door assembly platform module 2, which moves cyclically along the circular guide rail to achieve continuous transport. The door assembly platform module 2 includes a liftable base and a clamping platform. The liftable base can be adjusted in height by hydraulic or electric means to adapt to the assembly requirements of different height positions of the door. The clamping platform is equipped with a quick-change fixture 25, which can be replaced with a matching fixture according to the vehicle model parameters to ensure the stability of the workpiece during the transportation process. The visual compensation module 3 is installed at the door lifting mechanism assembly station, the door inner panel and glass assembly station, and the trim and sealing strip assembly station. Each station includes 4 sets of 3D laser vision systems. Each set includes a laser sensor and an image processor. The laser sensor has an accuracy of 0.1mm and is used to scan the entire door and the door installation position to obtain actual position data. The image processor calculates the deviation value between the actual position and the theoretical model, including the gap value and the relative position, and sends the compensation signal to the collaborative assembly robot module. During operation, the robot first locates the vehicle body position, then measures the relative position of the door, and finally outputs the installation compensation value. The collaborative assembly robot module 4 includes a door lifting mechanism assembly robot 41, a door inner panel and glass installation robot arm 42, and a trim and sealing strip installation robot arm 43, all arranged along the outer periphery of the circular conveyor line 1. The robot's moving end is equipped with a multi-functional tool head for performing door lifting mechanism assembly, door inner panel and glass installation, and trim and sealing strip installation and fastening. The collaborative assembly robot module 4 automatically corrects its trajectory based on the signal from the vision compensation module 3.

[0019] The control module 5 is based on the MES system and includes a vehicle model identification unit, a random mixing logic control unit, and a quality monitoring unit. The control module 5 matches the vehicle model with the assembly operation through the logic program of each workstation, imports the data into the cloud platform, collects data in real time, and forms a closed-loop feedback.

[0020] The working principle and usage process of this invention are as follows: Before assembly, a quick-change fixture 25 of the corresponding size and specification is replaced according to the model of the car door to be assembled. During assembly, the car door workpiece to be assembled is clamped and fixed by the quick-change fixture 25. Then, the car door assembly platform module 2 moves cyclically along the circular guide rail to achieve continuous conveying, passing through multiple workstations in sequence. When the workpiece reaches the loading station, the vehicle model recognition unit in the control module 5 identifies the vehicle model entering the assembly line. The random mixing logic control unit matches the corresponding assembly operation program according to the recognition result. The height-adjustable base of the car door assembly platform module 2 is adjusted according to the vehicle model parameters. The workpiece moves along the circular guide rail with the car door assembly platform module 2. The vision compensation module 3 is activated, using 4 sets of 3D laser vision systems to scan the entire car door and its installation position to accurately obtain the actual position data. The image processor quickly calculates the deviation value between the actual position and the theoretical model, including the gap value and relative position, and sends the compensation signal to the collaborative assembly robot module 4 in real time. After receiving the signal, the collaborative assembly robot module 4 automatically corrects the trajectory of the lifting mechanism installation robot arm 41, the door inner panel and glass installation robot arm 42, and the trim and sealing strip installation robot arm 43 according to the compensation signal to ensure installation accuracy. Each robot arm is arranged along the outer periphery of the circular conveyor line 1, and its multi-functional tool head at the moving end flexibly performs tasks such as assembling the door lifting mechanism, installing the door inner panel and glass, and installing and securing the trim and sealing strip. As the door assembly platform module 2 continues to move, the workpiece reaches the door inner panel and glass assembly station, where the vision compensation module 3 again plays a role in ensuring assembly accuracy. The collaborative assembly robot module 4 performs precise operations according to the compensation signal to complete the assembly of the door inner panel and glass. Subsequently, the workpiece moves to the trim and sealing strip assembly station, where it is scanned and calculated by the vision compensation module 3, and the collaborative assembly robot module 4 performs precise trim and sealing strip assembly. Finally, the workpiece reaches the unloading station for unloading, completing the entire assembly process. Throughout the assembly process, control module 5, based on the MES system, uses a vehicle model identification unit, a random mixing logic control unit, and a quality monitoring unit to match the vehicle model with the assembly operation in real time, and imports the data into the cloud platform for data collection, forming a closed-loop feedback to ensure assembly quality.

[0021] The beneficial effects of this invention are as follows: Through the modular design of the circular conveyor line 1, door assembly platform module 2, vision compensation module 3, and collaborative assembly robot module 4, the production line can be rapidly expanded and reorganized, flexibly adapting to the needs of multi-model mixed-line production, significantly improving the flexibility and adaptability of the production line. Simultaneously, the efficient collaboration and precise control between modules greatly improve the assembly accuracy and efficiency of the door assembly. The liftable base and quick-change fixture 25 of the door assembly platform module 2 enable rapid switching between door assembly for different models on the same production line without downtime for adjustments, reducing changeover costs and time. The 3D laser vision system of the vision compensation module 3 scans and calculates positional deviations in real time with a high precision of 0.1mm, providing accurate compensation signals for the collaborative assembly robot module 4, ensuring precise docking of various components and avoiding assembly quality problems caused by positional deviations. The control module 5, based on the MES system, integrates vehicle model recognition, random mixed-line logic control, and quality monitoring. Through real-time data collection via a cloud platform and the formation of a closed-loop feedback, it not only ensures the controllability of the assembly process but also provides data support for continuous optimization of the production line.

[0022] In this embodiment, preferably, the liftable base includes a fixed base plate 21 and a top plate 23, which are connected by a scissor lift mechanism 22, and the clamping platform is fixedly connected to the top plate 23. The liftable base, driven by hydraulics or electricity, can be smoothly and precisely adjusted in height to meet the height requirements of different car door models during assembly. The scissor lift mechanism 22 features structural stability and high load-bearing capacity, ensuring the stability of the clamping platform during lifting and avoiding impact on assembly accuracy due to swaying. Simultaneously, the fixed connection between the clamping platform and the top plate 23 also ensures the stability of the clamping platform during lifting and providing a reliable guarantee for accurate clamping of the car door workpiece. In practical applications, operators can easily adjust the height of the liftable base by controlling the hydraulic or electric system, greatly improving assembly efficiency.

[0023] In this embodiment, preferably, the guide rail of the circular conveyor line 1 is equipped with a precision positioning mechanism at each workstation. The precision positioning mechanism uses a pneumatic pin and a conical positioning sleeve 27. The conical positioning sleeve 27 is opened on the side wall of the fixed base plate 21, and the pneumatic pin is fixedly installed on the outside of the circular conveyor line 1 at the position of the conical positioning sleeve 27 on the fixed base plate 21. The pneumatic pin includes a pneumatic telescopic rod and a conical pin fixedly installed on the top of the telescopic rod. The conical pin matches the conical positioning sleeve 27 to ensure that the door assembly platform module 2 stops accurately when changing between workstations. With the setting of the precision positioning mechanism, the door assembly platform module 2 can accurately and stably stop at the predetermined position when moving from one workstation to another, avoiding assembly errors caused by inaccurate stopping, and further improving the assembly accuracy and reliability.

[0024] In this embodiment, preferably, the clamping platform includes a perforated base plate 24. The perforated base plate 24 has multiple clamp fixing screw holes arranged in a rectangular array, and the quick-change clamp 25 is fixed to the perforated base plate 24 by fixing bolts 26. The design of the perforated base plate 24 allows the installation position of the quick-change clamp 25 to be flexibly adjusted according to actual needs. Simply screw the fixing bolts 26 into the corresponding clamp fixing screw holes. This design not only improves the versatility and adaptability of the clamping platform, but also greatly shortens the time required to change clamps, further improving the efficiency of the production line.

[0025] In this embodiment, preferably, the workflow of the visual compensation module 3 includes: Step 1: The laser sensor at the assembly station is triggered, and the vision system scans and positions the reference point on the current door assembly; Step 2: Scan the installation positions of the parts fixed on the door assembly platform module 2 to obtain their actual three-dimensional coordinates; Step 3: Compare the actual coordinates with the theoretical model to calculate the installation position deviation and relative angle deviation; Step 4: Generate matrix data containing translation compensation in the X, Y, and Z directions and rotation compensation around the Z axis, and send it to the collaborative assembly robot module 4.

[0026] The vision compensation module 3 captures and corrects deviations in the assembly process in real time, ensuring optimal installation accuracy for each component on the door assembly. After receiving the matrix data from the vision compensation module 3, the collaborative assembly robot module 4 can quickly and accurately adjust its assembly actions, precisely positioning and installing the components. This flexible assembly method based on vision compensation not only improves the automation level of assembly but also significantly reduces assembly errors caused by human factors, thus ensuring high quality and efficiency in door assembly. Furthermore, the system possesses high flexibility and scalability, adapting to the assembly needs of door assemblies for different vehicle models and configurations, providing strong technical support for automobile manufacturers to achieve multi-model mixed-line production.

[0027] In this embodiment, preferably, the vehicle model identification unit of the control module 5 is also connected to a mistake-proofing unit. This mistake-proofing unit includes appearance-based mistake-proofing, barcode / RFID dual verification scanning mistake-proofing, and mechanical mistake-proofing irregular-shaped positioning pins, preventing the misuse of similar parts when multiple vehicle models are mixed on the assembly line. In a multi-vehicle mixed-line production environment, the misuse of similar parts is a common and challenging problem. The vehicle model identification unit in the control module 5, by connecting to the mistake-proofing unit, effectively solves this problem. Appearance-based mistake-proofing compares the actual appearance of the parts with preset standards to promptly identify and prevent parts with inconsistent appearances from entering the assembly process. Barcode / RFID dual verification scanning uses advanced scanning technology to read and verify the barcodes or RFID tags on the parts, ensuring the accuracy of each part's identity information. The mechanical mistake-proofing irregular-shaped positioning pins, through their unique shape design, ensure that only matching parts can be correctly installed, further preventing the misuse of similar parts. The comprehensive application of these mistake-proofing measures greatly improves the accuracy and reliability of the assembly process and reduces quality problems caused by part misuse.

[0028] In this embodiment, preferably, the circular conveyor line 1, the door assembly platform module 2, the vision compensation module 3, and the collaborative assembly robot module 4 all adopt a modular design. The mechanical and electrical interfaces between the modules are standardized, supporting rapid expansion and reconfiguration of the production line. This modular design allows automobile manufacturers to easily add, remove, or replace modules as needed when introducing new models or upgrading existing production lines. For example, to accommodate larger door assemblies, the guide rail length of the circular conveyor line 1 can be increased, and the dimensions of the door assembly platform module 2 and the specifications of the clamping platform can be adjusted accordingly. Simultaneously, the vision compensation module 3 and the collaborative assembly robot module 4 can also meet higher assembly precision requirements by increasing the number of laser vision systems or upgrading the robotic arm's functionality. This modular design not only reduces the cost and time of production line modifications but also improves the adaptability and flexibility of the production line, enabling automobile manufacturers to respond more quickly to market changes and meet diverse production needs. Furthermore, the standardized mechanical and electrical interfaces between the modules facilitate module maintenance and replacement, further reducing production line operating costs.

[0029] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible automated assembly line for door assemblies adapted to mixed production lines of multiple vehicle models, characterized in that: It comprises a ring-shaped conveying line (1), a door assembly platform module (2), a visual compensation module (3), a collaborative assembly robot module (4) and a control module (5); The ring-shaped conveying line (1) adopts a vertically arranged ring-shaped guide rail structure, a linear motor is arranged on the inner side of the guide rail for bearing and conveying the door assembly workpiece; the guide rail is designed in sections, each section corresponds to a station, including a loading station, a door lifting mechanism assembly station, a door inner plate and glass assembly station, a trim and sealing strip assembly station and an unloading station; during operation, the workpiece is fixed by the door assembly platform module (2), the door assembly platform module (2) moves along the ring-shaped guide rail in a circulating manner to realize continuous conveying; The door assembly platform module (2) comprises a liftable base and a clamping platform; the liftable base is adjusted in height by hydraulic or electric means to adapt to the assembly requirements for different height positions of the door; the clamping platform is provided with quick changeover clamps (25) which can be replaced according to the parameters of the vehicle type to ensure the stability of the workpiece during conveying; The visual compensation module (3) is arranged at the door lifting mechanism assembly station, the door inner plate and glass assembly station and the trim and sealing strip assembly station; each station comprises four sets of 3D laser vision systems, each set comprising a laser sensor and an image processor; the laser sensor has an accuracy of 0.1mm and is used for scanning the whole door and the door mounting position to obtain actual position data; the image processor calculates the deviation value of the actual position from the theoretical model, including the gap value and the relative position, and sends the compensation signal to the collaborative assembly robot module; during operation, the vehicle body position is first located, then the relative position of the door is measured, and finally the installation compensation value is output; The collaborative assembly robot module (4) comprises a door lifting mechanism assembly robot (41), a door inner plate and glass mounting mechanical arm (42) and a trim and sealing strip mounting mechanical arm (43), which are arranged along the outer periphery of the ring-shaped conveying line (1); the movable end of the robot is provided with a multifunctional tool head for performing door lifting mechanism assembly, door inner plate and glass mounting and trim and sealing strip mounting and fastening; the collaborative assembly robot module (4) automatically corrects the trajectory based on the signal of the visual compensation module (3); The control module (5) is based on the MES system and comprises a vehicle type recognition unit, a random mixed line logic control unit and a quality monitoring unit; the control module (5) matches the vehicle type and assembly operation through the logic program of each station and imports the cloud platform to collect data in real time to form a closed loop feedback.

2. The flexible automatic assembly line of vehicle door assembly for multiple vehicle models and mixed lines according to claim 1, wherein: The liftable base comprises a fixed bottom plate (21) and a top plate (23); the fixed bottom plate (21) and the top plate (23) are connected by a scissor-type lifting mechanism (22); and the clamping platform is fixedly connected to the top plate (23).

3. The flexible door assembly automated assembly line of claim 2, wherein: The guide rail of the annular conveying line (1) is provided with a precision positioning mechanism at each station, the precision positioning mechanism is matched with a pneumatic bolt and a conical positioning sleeve (27), the conical positioning sleeve (27) is arranged on the side wall of a fixed bottom plate (21), and the pneumatic bolt is fixedly installed on the fixed bottom plate (21) outside the annular conveying line (1) and is installed at the position of the conical positioning sleeve (27), the pneumatic bolt comprises a pneumatic telescopic rod and a conical head bolt fixedly installed on the top of the telescopic rod, and the conical head bolt is matched with the conical positioning sleeve (27), so that the door assembly platform module (2) can be accurately positioned when it is converted between stations.

4. The flexible door assembly automated assembly line of claim 1, wherein: The clamping platform comprises a perforated bottom plate (24), a plurality of clamp fixing screw holes are arranged in a rectangular array on the perforated bottom plate (24), and the quick changeover clamp (25) is fixed on the perforated bottom plate (24) through the fixing bolt (26).

5. The flexible vehicle door assembly automated assembly line of claim 1, wherein: The working process of the visual compensation module (3) comprises: Step one: the laser sensor of the assembly station is triggered, and the visual system scans and positions the reference point on the current door assembly; Step two: the installation position of the parts fixed on the door assembly platform module (2) is scanned to obtain the actual three-dimensional coordinates; Step three: the actual coordinates are compared with the theoretical model to calculate the installation position deviation and the relative angle deviation; Step four: a matrix data containing X, Y and Z direction translation compensation and Z axis rotation compensation is generated and sent to the collaborative assembly robot module (4).

6. The flexible vehicle door assembly automated assembly line of claim 1, wherein: The quality monitoring unit of the control module (5) adds a reinspection station after the hinge tightening process, and the laser sensor is used to detect the flatness of the hinge mounting surface and the hole position again, so as to ensure the installation quality.

7. The flexible vehicle door assembly automated assembly line of claim 1, wherein: The annular conveying line (1), the door assembly platform module (2), the visual compensation module (3) and the collaborative assembly robot module (4) all adopt modular design, the mechanical interface and the electrical interface between the modules are standardized, and the production line can be quickly expanded and reorganized.

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