A dashboard assembly tightening mechanism and tightening method thereof

Abstract

This invention discloses a dashboard assembly tightening mechanism and method, relating to the field of assembly technology. The dashboard assembly tightening mechanism includes: a following device; a collaborative robot; a tightening gun for picking up bolts and tightening them into the dashboard mounting holes of a vehicle; an extension mechanism for driving the tightening gun from the position of the previous dashboard mounting hole to the position of the next dashboard mounting hole, the tightening gun being mounted on the extension mechanism; a feeding mechanism including a nail-holding plate for picking up spare bolts and a feeding component for feeding spare bolts to the front end of the tightening gun; a pushing mechanism located above the feeding mechanism for pushing spare bolts into the tightening gun; a positioning camera; and a control device, wherein the following device, collaborative robot, tightening gun, extension mechanism, feeding mechanism, pushing mechanism, and positioning camera are all connected to the control device. This mechanism can pick up two bolts at once for tightening operations, improving bolt tightening efficiency.

Description

Technical Field

[0001] This invention relates to the field of assembly technology, and more specifically, to a dashboard assembly tightening mechanism. Furthermore, it also relates to a tightening method applicable to the aforementioned dashboard assembly tightening mechanism. Background Technology

[0002] With continuous technological advancements and innovations, automotive assembly processes are increasingly shifting from manual assembly to automated machine assembly. This is also true in the field of automotive dashboard assembly, particularly the tightening process. Currently, dashboard tightening primarily involves collaborative robots using tightening guns to tighten bolts, and each tightening gun can only carry one bolt at a time. This results in prolonged tightening times, reduced efficiency, and, moreover, current dashboard tightening methods only support fixed installations, failing to meet the demands of automated, on-the-go installation.

[0003] In summary, how to provide a bolt tightening device that can move with the car dashboard and has high bolt tightening efficiency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the object of the present invention is to provide a dashboard assembly tightening mechanism that can meet the installation requirements of automated installation, can pick up two bolts at a time for tightening, and can improve bolt tightening efficiency. Another object of the present invention is to provide a tightening method applicable to the above-mentioned dashboard assembly tightening mechanism.

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

[0006] A dashboard assembly tightening mechanism, comprising:

[0007] A following device is used to obtain the vehicle's sliding speed and move synchronously with the vehicle;

[0008] A collaborative robot, mounted on the accompanying device, capable of moving in three-dimensional space;

[0009] A tightening gun is used to pick up bolts and tighten them into the mounting holes of the vehicle's dashboard. The tightening gun is connected to the mobile end of the collaborative robot.

[0010] An extension mechanism is provided for driving the tightening gun to move from the position of the previous instrument panel mounting hole to the position of the next instrument panel mounting hole, and the tightening gun is mounted on the extension mechanism.

[0011] A feeding mechanism is located above the extension mechanism, and includes a nail-holding plate for adsorbing spare bolts and a feeding component for feeding spare bolts to the front end of the tightening gun.

[0012] A pushing mechanism, located above the feeding mechanism, is used to push the spare bolt into the tightening gun;

[0013] A positioning camera is located at the lower end of the tightening gun and is used to visually photograph and position the mounting holes of the instrument panel.

[0014] The control device, the following device, the collaborative robot, the tightening gun, the extension mechanism, the feeding mechanism, the pushing mechanism, and the positioning camera are all connected to the control device.

[0015] Preferably, the lower end of the pushing mechanism is provided with a sensor for sensing whether a spare bolt is on the nail plate, and the sensor is connected to the control device.

[0016] Preferably, a limiting wheel is provided on the connecting plate between the feeding mechanism and the pushing mechanism, and the limiting wheel is used to limit the movement stroke of the feeding mechanism.

[0017] Preferably, the extension mechanism includes an extension guide rail, an extension slider slidably disposed on the extension guide rail, a telescopic cylinder for driving the extension slider to slide, and a tension spring;

[0018] The tightening gun is mounted on the extending slider, and a tension spring is horizontally arranged between the end of the extending guide rail away from the tightening gun and the tightening gun. The telescopic cylinder is connected to the control device.

[0019] Preferably, the following device includes following rails disposed on both sides of the instrument panel mounting area of ​​the vehicle, following sliders slidably disposed on the following rails, following drive components for driving the following sliders to slide, and reading devices for reading the vehicle's sliding speed; the following drive components and the reading devices are both connected to the control device.

[0020] A tightening method, applicable to the instrument panel assembly tightening mechanism described in any of the above claims, comprising:

[0021] Pick up two bolts and place them in the tightening gun and nail plate respectively;

[0022] The accompanying device acquires the vehicle's sliding speed and drives the collaborative robot to move synchronously with the vehicle.

[0023] The positioning camera captures images of the vehicle's dashboard and visually locates the positions of the dashboard mounting holes.

[0024] Based on the visual positioning results, the collaborative robot is controlled to move, so that the tightening gun reaches the position of the first instrument panel mounting hole, and the tightening gun screws the bolt into the first instrument panel mounting hole.

[0025] The extension mechanism is controlled to operate based on the visual positioning results, so that the tightening gun is moved from the position of the first instrument panel mounting hole to the position of the second instrument panel mounting hole;

[0026] The feeding mechanism delivers the spare bolt to the front end of the tightening gun, the pushing mechanism pushes the spare bolt into the tightening gun, and the tightening gun screws the spare bolt into the second instrument panel mounting hole.

[0027] Preferably, the positioning camera captures images of the vehicle's dashboard and performs visual positioning of the dashboard mounting holes, including:

[0028] When the vehicle to be installed enters the preset shooting area, the positioning camera will take a picture of the vehicle's dashboard assembly for visual positioning.

[0029] The positioning camera takes pictures using the instrument panel mounting holes as the shooting points. Through the establishment and transformation of the coordinate system, the distance compensation amounts between the first and second instrument panel mounting holes in the X-axis, Y-axis, and Z-axis directions are obtained respectively.

[0030] Preferably, the feeding mechanism delivers the spare bolt to the front end of the tightening gun, the pushing mechanism pushes the spare bolt into the tightening gun, and the tightening gun screws the spare bolt into the second instrument panel mounting hole. Afterwards, the process includes:

[0031] The tightening torque of the tightening gun is obtained, and it is determined whether the tightening torque is within the tightening threshold range. If the tightening torque is not within the tightening threshold range, an alarm operation is performed. If the tightening torque is within the tightening threshold range, the process returns to the steps of picking up two bolts, placing them into the tightening gun and nail plate respectively, and then performing the next tightening operation.

[0032] When using the dashboard assembly tightening mechanism provided by this invention, firstly, the tightening robot can be controlled to move to the side of the blown nail mechanism. The robot picks up two bolts and places them into the tightening gun and nail plate respectively, keeping the mechanism in a ready position, waiting for the vehicle body to arrive at the assembly station. Then, the following device can acquire the vehicle's sliding speed and drive the collaborative robot to move synchronously with the vehicle. Next, the positioning camera can photograph the vehicle's dashboard and visually locate the dashboard mounting holes. Based on the visual positioning results, the collaborative robot is controlled to move, bringing the tightening gun to the first dashboard mounting hole. At this point, the tightening gun can tighten the bolt into the first dashboard mounting hole. After the first bolt tightening operation is completed, the control device can control the extension mechanism to move the tightening gun from the first dashboard mounting hole to the second dashboard mounting hole based on the visual positioning results. Subsequently, the feeding mechanism can deliver a spare bolt to the front end of the tightening gun, and the pushing mechanism then pushes the spare bolt into the tightening gun. Finally, the tightening gun can tighten the spare bolt into the second dashboard mounting hole.

[0033] In summary, the instrument panel assembly tightening mechanism provided by this invention can meet the installation requirements of automated installation, can pick up two bolts at once for tightening, and can improve bolt tightening efficiency.

[0034] Furthermore, the present invention also provides a tightening method applicable to the above-mentioned instrument panel assembly tightening mechanism. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0036] Figure 1 A schematic diagram of the instrument panel assembly tightening mechanism provided by the present invention;

[0037] Figure 2 A connection diagram of the tightening gun, extension mechanism, feeding mechanism and pushing mechanism;

[0038] Figure 3 for Figure 2 A partially enlarged schematic diagram of the middle limit wheel;

[0039] Figure 4 for Figure 2 Top view;

[0040] Figure 5 This is a schematic flowchart of the tightening method provided by the present invention.

[0041] Figures 1-5 middle:

[0042] 1 is the following device, 11 is the following track, 12 is the following slider, 13 is the following drive component, 2 is the collaborative robot, 3 is the tightening gun, 31 is the screw sleeve, 32 is the tightening shaft, 33 is the adapter, 34 is the L-shaped mounting plate, 4 is the extension mechanism, 41 is the extension guide rail, 42 is the extension slider, 43 is the telescopic cylinder, 44 is the tension spring, 5 is the feeding mechanism, 51 is the nail plate, 52 is the U-shaped groove, 6 is the pushing mechanism, 7 is the positioning camera, 8 is the sensor, and 9 is the limit wheel. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] The core of this invention is to provide a dashboard assembly tightening mechanism that meets the installation requirements of automated systems, enabling the simultaneous picking up and tightening of two bolts, thus improving bolt tightening efficiency. Another core aspect of this invention is to provide a tightening method applicable to the aforementioned dashboard assembly tightening mechanism.

[0045] Please refer to Figures 1 to 5 , Figure 1 A schematic diagram of the instrument panel assembly tightening mechanism provided by the present invention; Figure 2 A connection diagram of the tightening gun, extension mechanism, feeding mechanism and pushing mechanism;

[0046] Figure 3 for Figure 2 A partially enlarged schematic diagram of the middle limit wheel; Figure 4 for Figure 2 Top view; Figure 5 This is a schematic flowchart of the tightening method provided by the present invention.

[0047] This specific embodiment provides a dashboard assembly tightening mechanism, including:

[0048] The following device 1 is used to obtain the vehicle's sliding speed and move synchronously with the vehicle;

[0049] Collaborative robot 2, which is mounted on accompanying device 1 and can move in three-dimensional space;

[0050] Tightening gun 3 is used to pick up bolts and tighten them into the mounting holes of the vehicle's dashboard. Tightening gun 3 is connected to the mobile end of collaborative robot 2.

[0051] The extension mechanism 4 is used to drive the tightening gun 3 from the position of the upper instrument panel mounting hole to the position of the next instrument panel mounting hole. The tightening gun 3 is mounted on the extension mechanism 4.

[0052] The feeding mechanism 5 is located above the extension mechanism 4, and includes a nail-holding plate 51 for adsorbing spare bolts and a feeding component for feeding spare bolts to the front end of the tightening gun 3.

[0053] The pushing mechanism 6 is located above the feeding mechanism 5 and is used to push the spare bolt into the tightening gun 3.

[0054] Positioning camera 7, located at the lower end of tightening gun 3, is used to visually photograph and position the mounting holes of the instrument panel.

[0055] The control device, the following device 1, the collaborative robot 2, the tightening gun 3, the extension mechanism 4, the feeding mechanism 5, the pushing mechanism 6, and the positioning camera 7 are all connected to the control device.

[0056] It should be noted that this mechanism can carry two bolts at once for tightening operations, meaning that a single pick-up operation can tighten two bolts with the tightening gun 3, significantly improving the working efficiency of the tightening gun 3. Furthermore, the components are compact and lightweight, allowing for movement in confined spaces. Additionally, this mechanism includes a following device 1, enabling the collaborative robot 2 to move synchronously with the vehicle to be installed.

[0057] In practical applications, the shape, structure, size, and position of the following device 1, collaborative robot 2, tightening gun 3, extension mechanism 4, feeding mechanism 5, pushing mechanism 6, positioning camera 7, and control device can be determined according to the actual situation and needs.

[0058] When using the dashboard assembly tightening mechanism provided by this invention, firstly, the tightening robot can be controlled to move to the side of the blown nail mechanism, and the tightening robot picks up two bolts and places them into the tightening gun 3 and the nail placement plate 51 respectively, so that the mechanism maintains a ready posture and waits for the vehicle body to arrive at the assembly station. Then, the following device 1 can obtain the sliding speed of the vehicle and drive the collaborative robot 2 to move synchronously with the vehicle. After that, the positioning camera 7 can photograph the vehicle's dashboard and perform visual positioning of the dashboard mounting hole position. Based on the visual positioning result, the collaborative robot 2 is controlled to move, so that the tightening gun 3 reaches the first dashboard mounting hole position. At this time, the tightening gun 3 can tighten the bolt into the first dashboard mounting hole. After the tightening operation of the first bolt is completed, the control device can control the extension mechanism 4 to operate according to the visual positioning result, so that the tightening gun 3 moves from the position of the first dashboard mounting hole to the position of the second dashboard mounting hole. Subsequently, the feeding mechanism 5 can send the spare bolt to the front end of the tightening gun 3, and the pushing mechanism 6 then pushes the spare bolt into the tightening gun 3. Finally, the tightening gun 3 can tighten the spare bolt into the second dashboard mounting hole.

[0059] In summary, the instrument panel assembly tightening mechanism provided by this invention can meet the installation requirements of automated installation, can pick up two bolts at once for tightening, and can improve bolt tightening efficiency.

[0060] Based on the above embodiments, preferably, the lower end of the pushing mechanism 6 is provided with a sensor 8 for sensing whether the spare bolt is on the nail plate 51. The sensor 8 is connected to the control device. When the sensor 8 detects that there is a spare bolt on the nail plate 51, the control device will control the extension mechanism 4, the feeding mechanism 5 and the pushing mechanism 6 to cooperate in order to put the spare bolt into the second instrument panel mounting hole.

[0061] Preferably, a limiting wheel 9 is provided on the connecting plate between the feeding mechanism 5 and the pushing mechanism 6. The limiting wheel 9 is used to limit the movement stroke of the feeding mechanism 5. For example, the limiting wheel 9 can be provided on the outermost side of the connecting plate between the feeding mechanism 5 and the pushing mechanism 6 to limit the movement stroke of the pushing mechanism 6 relative to the feeding mechanism 5, thereby effectively limiting the position of the spare bolt and ensuring that the spare bolt is accurately pushed into the tightening gun 3.

[0062] Preferably, the extension mechanism 4 includes an extension guide rail 41, an extension slider 42 slidably disposed on the extension guide rail 41, a telescopic cylinder 43 for driving the extension slider 42 to slide, and a tension spring 44; the tightening gun 3 is disposed on the extension slider 42, and a tension spring 44 is horizontally disposed between the end of the extension guide rail 41 away from the tightening gun 3 and the tightening gun 3; the telescopic cylinder 43 is connected to the control device.

[0063] It should be noted that since this tightening mechanism is used for the accompanying installation of the instrument panel, it will generate a following speed. Without adding a floating mechanism, it would be difficult to match the rotational speed of the tightening shaft 32 with the linear forward speed of the following track 11 or the collaborative robot 2. Existing mechanisms with floating heads on the market are too long and not suitable for use on instrument panels with limited installation space. Therefore, this tightening mechanism uses a tension spring 44 horizontally between the end of the extended guide rail 41 away from the tightening gun 3 and the tightening gun 3. This tension spring 44 acts as a floating mechanism, which helps to match the rotational speed of the tightening shaft 32 with the linear forward speed of the following track 11 or the collaborative robot 2. The telescopic cylinder 43 provides power to drive the tightening gun 3 to extend or retract.

[0064] It should also be noted that the tightening gun 3 may include a screw sleeve 31 for accommodating bolts, a tightening shaft 32 for driving the screw sleeve 31 to rotate, and an adapter 33. The adapter 33 is used to connect the screw sleeve 31 and the tightening shaft 32. The end of the nail holder 51 is provided with a U-shaped groove 52 for placing spare bolts. When the tightening shaft 32 rotates, the torque can be transmitted to the screw sleeve 31 through the adapter 33 to achieve the tightening or loosening operation of bolts and instrument panel mounting holes. Furthermore, the tightening gun 3 can be mounted on an L-shaped mounting plate 34 to make the device structure more compact. It should be further noted that the tightening gun 3 may also include a torque detector for detecting the tightening torque of the tightening shaft 32, a judge for determining whether the tightening torque is within the tightening threshold range, and an alarm. The alarm is used to sound an alarm when the tightening torque is not within the tightening threshold range. The torque detector, judge, and alarm are all connected to the control device. By setting up torque detectors, judgment devices, and alarms, it is helpful to ensure that the bolts are tightened effectively. That is, if the bolts are not tightened to the required standard, the tightening operation will be repeated.

[0065] Preferably, the following device 1 includes following tracks 11 disposed on both sides of the dashboard mounting area of ​​the vehicle, following sliders 12 slidably disposed on the following tracks 11, following drive members 13 for driving the following sliders 12 to slide, and reading devices for reading the vehicle's sliding speed; both the following drive members 13 and the reading devices are connected to the control device. The reading devices can be disposed on the following tracks 11 to effectively read the vehicle's speed, thereby controlling the following sliders 12 to move synchronously. Furthermore, the bottom end of the collaborative robot 2 can be mounted on the following sliders 12, and the moving end of the collaborative robot 2 can be connected to the tightening gun 3.

[0066] In addition to the instrument panel assembly tightening mechanism described above, the present invention also provides a tightening method applicable to the instrument panel assembly tightening mechanism disclosed in the above embodiments, the tightening method comprising:

[0067] Step S1: Pick up two bolts and place them into the tightening gun 3 and the nail plate 51 respectively;

[0068] Step S2: The following device 1 acquires the vehicle's sliding speed and drives the collaborative robot 2 to move synchronously with the vehicle.

[0069] Step S3: Positioning camera 7 captures images of the vehicle's dashboard and visually positions the dashboard mounting holes.

[0070] Step S4: Based on the visual positioning result, control the collaborative robot 2 to move so that the tightening gun 3 reaches the position of the first instrument panel mounting hole and tightens the bolt into the first instrument panel mounting hole.

[0071] Step S5: Control the extension mechanism 4 to operate according to the visual positioning result, so that the tightening gun 3 moves from the position of the first instrument panel mounting hole to the position of the second instrument panel mounting hole;

[0072] In step S6, the feeding mechanism 5 feeds the spare bolt to the front end of the tightening gun 3, the pushing mechanism 6 pushes the spare bolt into the tightening gun 3, and the tightening gun 3 screws the spare bolt into the second instrument panel mounting hole.

[0073] It should be further explained that after the first bolt is tightened, the cylinder valve plate of the telescopic cylinder 43 returns to its original position from the extended position (the telescopic cylinder 43 can be controlled by a center-leak valve, with the valve plate in the center-leak state in its original position). At the same time, the tension springs 44 on both sides of the extended slider 42 can drive the tightening gun 3 to move as a whole, so as to control the tightening gun 3 to reach the position of the second instrument panel mounting hole according to the three-dimensional compensation results collected by the positioning camera 7. After the tightening gun 3 is in place, the feeding mechanism 5 can be controlled to send the spare bolt in the U-shaped groove 52 to the screw sleeve 31 of the tightening gun 3, and then the pushing mechanism 6 can be controlled to push the bolt out. The tightening gun 3 uses a magnet to attract and fix the spare bolt, and completes the tightening operation at the second instrument panel mounting hole.

[0074] Preferably, step S3 includes;

[0075] When the vehicle to be installed enters the preset shooting area, the positioning camera 7 takes a picture of the vehicle's dashboard assembly for visual positioning.

[0076] Positioning camera 7 takes pictures with the instrument panel mounting holes as the shooting points. Through the establishment and transformation of the coordinate system, the distance compensation amounts between the first and second instrument panel mounting holes in the X-axis, Y-axis, and Z-axis directions are obtained respectively.

[0077] After obtaining the three-dimensional distance compensation value of the first instrument panel mounting hole, the control device can accurately control the collaborative robot 2 to move in three-dimensional space, ensuring that the tightening gun 3 reaches the position of the first instrument panel mounting hole. This facilitates the tightening gun 3 to perform the first tightening operation on the instrument panel during the following movement of the vehicle body and the collaborative robot 2. The control device can also control the extension mechanism 4, the feeding mechanism 5, and the pushing mechanism 6 to cooperate in operating to achieve three-dimensional distance compensation for the second instrument panel mounting hole, ensuring that the spare bolt is fed into the tightening gun 3 and that the tightening gun 3 performs the tightening operation on the second instrument panel mounting hole.

[0078] Preferably, after step S6, the following steps are included:

[0079] Obtain the tightening torque of the tightening gun 3 and determine whether the tightening torque is within the tightening threshold range. If the tightening torque is not within the tightening threshold range, an alarm operation is performed. If the tightening torque is within the tightening threshold range, return to the steps of picking up two bolts, placing them in the tightening gun 3 and the nail plate 51 respectively, and perform the next tightening operation to ensure that bolts that are not tightened to the standard will not be moved to the next process.

[0080] It should be noted that the first and second instrument panel mounting holes mentioned in this application are only distinguished by their different positions and do not indicate any order of priority.

[0081] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Any combination of all embodiments provided by this invention is within the scope of protection of this invention and will not be elaborated upon here.

[0082] The instrument panel assembly tightening mechanism and its tightening method provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A dashboard assembly tightening mechanism, characterized in that, include: The following device (1) is used to obtain the vehicle's sliding speed and move synchronously with the vehicle; A collaborative robot (2) is mounted on the accompanying device (1) and can move in three-dimensional space; A tightening gun (3) is used to pick up bolts and tighten them into the mounting holes of the vehicle's dashboard. The tightening gun (3) is connected to the moving end of the collaborative robot (2). The tightening gun (3) includes a screw sleeve (31) for accommodating bolts, a tightening shaft (32) for driving the screw sleeve (31) to rotate, and an adapter (33). The adapter (33) is used to connect the screw sleeve (31) and the tightening shaft (32). The tightening gun (3) also includes a torque detector for detecting the tightening torque of the tightening shaft (32), a judge for determining whether the tightening torque is within the tightening threshold range, and an alarm. The alarm is used to sound an alarm when the tightening torque is not within the tightening threshold range. The extension mechanism (4) is used to drive the tightening gun (3) from the position of the upper instrument panel mounting hole to the position of the lower instrument panel mounting hole. The tightening gun (3) is mounted on the extension mechanism (4). The extension mechanism (4) includes an extension guide rail (41), an extension slider (42) slidably mounted on the extension guide rail (41), a telescopic cylinder (43) for driving the extension slider (42) to slide, and a tension spring (44). The tightening gun (3) is mounted on the extension slider (42). The tension spring (44) is horizontally mounted between the end of the extension guide rail (41) away from the tightening gun (3) and the tightening gun (3). The tension spring (44) is equivalent to a floating mechanism so that the rotational speed of the tightening shaft (32) matches the linear forward speed of the following device (1) or the collaborative robot (2). The telescopic cylinder (43) is used to provide power to drive the tightening gun (3) to extend or retract. The feeding mechanism (5) is located above the extension mechanism (4), and includes a nail-holding plate (51) for adsorbing spare bolts and a feeding component for feeding spare bolts to the front end of the tightening gun (3). The pushing mechanism (6) is located above the feeding mechanism (5) and is used to push the spare bolt into the tightening gun (3); Positioning camera (7), which is used to visually photograph and position the instrument panel mounting holes; The control device, the accompanying device (1), the collaborative robot (2), the tightening gun (3), the torque detector, the judge, the alarm, the telescopic cylinder (43), the feeding mechanism (5), the pushing mechanism (6) and the positioning camera (7) are all connected to the control device.

2. The instrument panel assembly tightening mechanism according to claim 1, characterized in that, The lower end of the pushing mechanism (6) is provided with a sensor (8) for sensing whether the spare bolt is on the nail plate (51), and the sensor (8) is connected to the control device.

3. The instrument panel assembly tightening mechanism according to claim 1, characterized in that, A limiting wheel (9) is provided on the connecting plate between the feeding mechanism (5) and the pushing mechanism (6), and the limiting wheel (9) is used to limit the movement stroke of the feeding mechanism (5).

4. The instrument panel assembly tightening mechanism according to any one of claims 1 to 3, characterized in that, The following device (1) includes a following track (11) on both sides of the instrument panel mounting area of ​​the vehicle, a following slider (12) slidably disposed on the following track (11), a following drive (13) for driving the following slider (12) to slide, and a reading device for reading the vehicle sliding speed; the following drive (13) and the reading device are both connected to the control device.

5. A tightening method applicable to the instrument panel assembly tightening mechanism according to any one of claims 1-4, characterized in that, include: Pick up two bolts and place them into the tightening gun (3) and the nail plate (51) respectively; The following device (1) acquires the vehicle's sliding speed and drives the collaborative robot (2) to move synchronously with the vehicle; The positioning camera (7) takes pictures of the vehicle's dashboard and visually positions the dashboard mounting holes; Based on the visual positioning results, the collaborative robot (2) is controlled to move, so that the tightening gun (3) reaches the position of the first instrument panel mounting hole, and the tightening gun (3) screws the bolt into the first instrument panel mounting hole; The extension mechanism (4) is controlled to operate according to the visual positioning result, so that the tightening gun (3) is moved from the position of the first instrument panel mounting hole to the position of the second instrument panel mounting hole; The feeding mechanism (5) feeds the spare bolt to the front end of the tightening gun (3), the pushing mechanism (6) pushes the spare bolt into the tightening gun (3), and the tightening gun (3) screws the spare bolt into the second instrument panel mounting hole.

6. The tightening method according to claim 5, characterized in that, The positioning camera (7) captures images of the vehicle's dashboard and performs visual positioning of the dashboard mounting hole positions, including: When the vehicle to be installed enters the preset shooting area, the positioning camera (7) takes a picture of the vehicle's dashboard assembly for visual positioning. The positioning camera (7) takes pictures with the instrument panel mounting hole as the shooting point. Through the establishment and transformation of the coordinate system, the distance compensation amounts of the first instrument panel mounting hole and the second instrument panel mounting hole in the X-axis direction, Y-axis direction and Z-axis direction are obtained respectively.

7. The tightening method according to claim 5, characterized in that, The feeding mechanism (5) feeds the spare bolt to the front end of the tightening gun (3), the pushing mechanism (6) pushes the spare bolt into the tightening gun (3), and the tightening gun (3) screws the spare bolt into the second instrument panel mounting hole. Then, the process includes: Obtain the tightening torque of the tightening gun (3) and determine whether the tightening torque belongs to the tightening threshold range. If the tightening torque does not belong to the tightening threshold range, then perform an alarm operation. If the tightening torque belongs to the tightening threshold range, then return to the steps of picking up two bolts, placing them into the tightening gun (3) and the nail plate (51) respectively, and perform the next tightening operation.

Images