Flexible tooling for synchronized assembly of vehicle doors

Abstract

The application discloses a flexible tool for synchronous assembling of automobile doors and belongs to the technical field of automobile assembling. The door assembling device comprises a vacuum chuck fixing device and a tool trolley. A three-axis moving slide table is fixedly arranged on an opposite moving trolley. The vacuum chuck fixing device comprises a steering wheel arranged on the three-axis moving slide table. The steering wheel is provided with a special-shaped support. The front end of the special-shaped support is provided with a turnover disc. The turnover disc is provided with a first fixing chuck and an auxiliary support. The auxiliary support is provided with an elastic member. The elastic member is provided with a supporting cylinder. The top end of the supporting cylinder is provided with a universal ball. The universal ball is provided with an auxiliary chuck. The supporting cylinder is provided with a ball lock cylinder. The ball lock cylinder is provided with a ball lock disc for abutting against the universal ball and locking the rotation of the universal ball. The door fixed on the first fixing chuck can be rotated and turned in multiple directions, which greatly facilitates the assembling of the door. Meanwhile, the auxiliary chuck further ensures the stability of the door fixed on the first fixing chuck.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly, in particular to a flexible tooling for synchronous assembly of automobile doors. Background Art

[0002] Currently, during the automobile manufacturing process, doors require a variety of equipment for storage, transportation, and assembly. For example, during assembly, doors must be transported to the door subassembly area within the assembly workshop using dedicated transport equipment and manually moved to the assembly equipment for assembly. Therefore, assembling a single door assembly requires the use of multiple workstations and equipment, and manual handling of doors between different workstations and equipment is required, resulting in low assembly efficiency and high labor intensity for employees. Furthermore, different car models have different door structures, and since the workstations and equipment used for each model are not universal, a large number of workstations and equipment must be produced for each model, resulting in a large amount of workshop storage space occupied, a serious waste of resources, and easily causing confusion in the management of workstations and equipment. Furthermore, door assembly is generally performed one by one, and it is not possible to assemble the doors on both sides simultaneously.

[0003] The existing publication number CN110126941B discloses a synchronous assembly tool for automobile doors on both sides, comprising a top frame, a left-side door assembly device, a right-side door assembly device, and a mechanism for moving the assembly devices in opposite directions. The top frame is slidably mounted on the top of the assembly workshop. The left-side door assembly device and the right-side door assembly device are each connected to the mechanism for moving the assembly devices in opposite directions via two vertically arranged guide rods. The upper end of each guide rod is screwed to the mechanism for moving the assembly devices in opposite directions. The left-side door assembly device and the right-side door assembly device each comprise an assembly cart, a three-axis movable slide, a vacuum suction cup door fixing device, and a tool cart. The present invention can meet the requirements of different vehicle models and door installation requirements, does not require manual handling, can automatically adjust the door position, and can adjust the position of the tools on the tool cart required for installation according to the installation habits and requirements of different workers. This is convenient and fast, saves labor, and improves work efficiency.

[0004] However, in an existing synchronous assembly tool for car doors on both sides, the right door assembly device can only be converted in the three directions of Z, X, and Y axes, and the suction cup of the door assembly device that supports the door cannot fit the door well, resulting in an unstable fixation of the door on the door assembly device. Summary of the Invention

[0005] The purpose of the present invention is to provide a flexible tooling for the synchronous assembly of automobile doors, so as to solve the problem that a kind of synchronous assembly tooling for automobile doors on both sides has the problem that the right door assembly device can only be converted in the three directions of Z, X and Y axes, and the suction cup of the door assembly device supporting the door cannot fit the door well, resulting in the door being unstable when fixed on the door assembly device.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a flexible tooling for synchronous assembly of automobile doors, comprising a top frame, a pair of opposing movable trolleys symmetrically arranged on the top frame, and a door assembly device arranged on the opposing movable trolleys, the opposing movable trolleys being connected to the top frame by guide rods, the door assembly device comprising a three-axis movable slide, a vacuum suction cup fixing device arranged on the three-axis movable slide, and a tool cart, the three-axis movable slide being fixedly arranged on the opposing movable trolleys, the vacuum suction cup fixing device comprising a steering wheel arranged on the three-axis movable slide, a special-shaped bracket being provided on the steering wheel, a flip disk being provided at the front end of the special-shaped bracket, a first fixed suction cup and an auxiliary bracket being provided on the flip disk, an elastic member being provided on the elastic member, a support tube being provided on the elastic member, a universal ball being provided at the top end of the support tube, the auxiliary suction cup being provided on the universal ball, a ball lock cylinder being provided in the support tube, and a ball lock disk being provided on the ball lock cylinder for abutting against the universal ball for locking the rotation of the universal ball.

[0007] Furthermore, the vacuum suction cup fixing device also includes an air pump, a flip motor and a rotating motor. The air pump is arranged on the side of the mobile trolley away from the tool trolley and is connected to the first fixed suction cup and the auxiliary suction cup for transmitting air pressure to the first fixed suction cup and the auxiliary suction cup. The rotating motor is connected to the steering wheel for driving the flip disk to rotate. The flip motor is fixed on the special-shaped bracket and connected to the flip disk for driving the flip disk to flip.

[0008] Furthermore, the three-axis movable slide includes an X-axis linear motion device, a Y-axis linear motion device and a Z-axis linear motion device. The X-axis linear motion device is fixedly arranged on the movable carriage along the length direction of the movable carriage, the Z-axis linear motion device is arranged on the X-axis linear motion device, the Y-axis linear motion device is arranged on the Z-axis linear motion device, and the steering wheel is fixedly arranged on the Z-axis linear motion device.

[0009] Furthermore, the X-axis linear motion device includes an X-axis screw, a first movable bracket provided on the X-axis screw and moving along the X-axis screw, and an X-axis servo motor for driving the X-axis screw to rotate; the Z-axis linear motion device includes a Z-axis screw provided between the two first movable brackets, a second movable bracket provided on the Z-axis screw and moving along the Z-axis screw, and a Z-axis servo motor for driving the Z-axis screw to rotate and driving the second movable bracket to move; the Y-axis linear motion device includes a lifting cylinder provided below the second movable bracket, an extension plate provided at the output end of the lifting cylinder, and the steering wheel and the rotating motor are provided on the extension plate.

[0010] Furthermore, the X-axis linear motion device also includes an X-axis auxiliary guide rod, which is arranged on a side close to the X-axis screw, and the first movable bracket is slidingly connected to the X-axis auxiliary guide rod. The Z-axis linear motion device also includes a Z-axis auxiliary guide rod, which is arranged on a side close to the Z-axis screw, and the second movable bracket is slidingly connected to the Z-axis auxiliary guide rod.

[0011] Furthermore, the opposing moving mechanism includes two opposing servo motors and two bidirectional screws, the two opposing servo motors are respectively arranged on both sides of the width direction of the top frame and located at the same end in the length direction of the top frame, the two bidirectional screws are rotatably arranged at the lower end of the top frame and are respectively located at the two ends in the width direction of the top frame, the length direction of the two bidirectional screws is consistent with the length direction of the top frame, the ends of the two bidirectional screws close to the opposing servo motors pass through the top frame and are connected to the opposing servo motors through a set of sprockets, each set of sprockets is arranged on the corresponding servo motor and the bidirectional screw, the spiral directions of the two ends of each bidirectional screw are opposite, and each bidirectional screw is screwed to the upper ends of the two guide rods at the corresponding positions.

[0012] Furthermore, the tool cart is provided with a synchronous belt slide and a tool tray. The tool tray is set on the synchronous belt slide through a lifting device. The lifting device is vertically set on the synchronous belt slide, and the tool tray is rotatably set on the top of the lifting device.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention provides a pair of symmetrically arranged oppositely moving trolleys on the top frame. The two oppositely moving trolleys and two tool trolleys located on both sides of the length direction of the top frame can move closer to or farther away from each other, thereby meeting the door installation requirements of vehicle models of different widths.

[0015] 2. The vacuum suction cup fixture of the present invention can be rotated along the Y-axis via a steering wheel and flipped along the Z-axis via a flip plate. This allows the door panel placed on the vacuum suction cup fixture to be rotated and flipped in multiple directions at various angles, greatly facilitating door assembly. The flip plate is equipped with a large first fixed suction cup. When the door is placed on the flip plate, this first fixed suction cup serves as the primary support and positioning point, preliminarily determining the door's position on the flip plate and providing stable support to ensure basic stability. The flip plate is also equipped with multiple auxiliary suction cups. These auxiliary suction cups are connected to the flip plate via universal ball joints, enabling free rotation at multiple angles. When the car door is placed on the first fixed suction cup, the auxiliary suction cup will be affected by the pressure of the car door. Since it is connected by a universal ball, it can automatically rotate. And because the auxiliary suction cups are installed on the elastic member, they can adaptively form different height states according to the different shapes of the car door. Through the coordinated cooperation of the elastic member and the universal ball, each auxiliary suction cup can be tightly and completely attached to the surface of the car door, thereby further enhancing the fixing effect of the car door, effectively preventing the displacement or shaking of the car door during the turning and rotation process, and providing reliable guarantee for the precise assembly of the car door. In addition, a ball lock cylinder is provided in the support tube, which can drive the ball lock disk to lock the universal ball; during the door assembly process, when the door needs to be precisely fixed at a specific angle or position, the ball lock cylinder is started to make the ball lock disk lock the universal ball, thereby limiting the rotation of the auxiliary suction cup, keeping the current position of the door stable, avoiding changes in the door position due to accidental collisions or misoperation, greatly improving the accuracy and efficiency of the assembly work, and at the same time broadening the application scope of the device in different complex assembly scenarios, and improving the overall practicality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of a flexible tooling for synchronous assembly of automobile doors according to the present invention;

[0018] Figure 2 This is a schematic diagram of the overall structure of the vehicle door assembly device of the present invention:

[0019] Figure 3 This is a schematic diagram of the overall structure of the vacuum suction cup fixing device of the present invention:

[0020] Figure 4 This is a front view of the vacuum suction cup fixing device of the present invention:

[0021] Figure 5 Schematic diagram of the internal structure of the support tube and the elastic member of the present invention:

[0022] Figure 6 This is a top view of the overall structure of the vehicle door assembly device of the present invention:

[0023] In the figure: 1 top frame, 2 mobile trolley, 3 door assembly device, 31 three-axis mobile slide, 311-X axis linear motion device, 3111-X axis screw, 3112 first mobile bracket, 3113-X axis servo motor, 312-Y axis linear motion device, 3121 lifting cylinder, 3122 extension plate, 313-Z axis linear motion device, 3131-Z axis screw, 3132 second mobile bracket, 3133-Z axis servo motor, 32 vacuum suction cup fixing device, 321 steering wheel, 3 22 Special-shaped bracket, 323 Flip disk, 324 First fixed suction cup, 325 Auxiliary bracket, 326 Elastic member, 327 Support tube, 3271 Ball lock cylinder, 3272 Ball lock disk, 328 Universal ball, 329 Auxiliary suction cup, 33 Tool trolley, 331 Synchronous slide, 332 Tool tray, 34 Air pump, 35 Flip motor, 36 Rotating motor, 37-X axis auxiliary guide rod, 38-Z axis auxiliary guide rod, 4 Guide rod, 5 Opposing moving mechanism, 51 Opposing servo motor, 52 Bidirectional screw, 53 Sprocket. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0025] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0026] like Figures 1 to 6As shown, the present invention provides a flexible tooling for synchronous assembly of automobile doors, including a top frame 1 which is a rectangular top frame 1 and can be slidably arranged on the top of a mobile trolley 2, the mobile trolley 2 is a rectangular mobile trolley 2, and the bottom of the mobile trolley 2 is provided with a moving roller, which cooperates with the mobile trolley 2 to slide, and the mobile trolley 2 is connected to the top frame 1 through a vertical guide rod 4, and the door assembly device 3 includes a three-axis mobile slide 31, and the three-axis mobile slide 31 enables the door assembly device 3 to realize movement in the three directions of X, Y and Z axes, so that the door assembly device 3 can be provided with a vacuum suction cup fixing device 32 and a tool cart 33 on the three-axis mobile slide 31, the vacuum suction cup fixing device 32 includes a steering wheel 321 arranged on the three-axis mobile slide 31, the steering wheel 321 can realize rotation, and a special-shaped bracket 322 is provided on the steering wheel 321, and the upper end of the special-shaped bracket 322 is tilted out of the steering On the outside of the plate 321, a flip plate 323 is mounted on a special-shaped bracket 322. This fan-shaped structure allows the flip plate 323 to be tilted vertically or tilted relative to the ground. This allows a vehicle door placed on the flip plate 323 to rotate with the flip plate 323. The door can be rotated and flipped in multiple directions via the steering wheel 321 and the flip plate 323, greatly facilitating door assembly. A first, large-area fixed suction cup 324 is mounted on the flip plate 323. When the vehicle door is placed on the flip plate 323, this first fixed suction cup 324 serves as the primary support and positioning point, preliminarily determining the door's position on the flip plate 323 and providing stable support, ensuring basic stability. The flip plate 323 is also equipped with multiple auxiliary suction cups 329. These auxiliary suction cups 329 are connected to the flip plate 323 via universal ball transfers 328, enabling multi-angle rotation.When the car door is placed on the first fixed suction cup 324, the auxiliary suction cup 329 will be affected by the pressure of the car door. Since it is connected by the universal ball 328, it can automatically rotate its angle. Moreover, since the auxiliary suction cup 329 is installed on the elastic member 326, it can adaptively form different height states according to the different shapes of the car door. Through the coordinated cooperation of the elastic member 326 and the universal ball 328, each auxiliary suction cup 329 can be tightly and completely attached to the surface of the car door, thereby further enhancing the fixing effect of the car door, effectively preventing the displacement or shaking of the car door during the flipping and rotation process, and providing reliable guarantee for the precise assembly of the car door. In addition, A ball lock cylinder 3271 is provided in the support tube 327, and the ball lock cylinder 3271 can drive the ball lock disk 3272 to lock the universal ball 328; during the door assembly process, when the door needs to be precisely fixed at a specific angle or position, the ball lock cylinder 3271 is started to make the ball lock disk 3272 lock the universal ball 328, thereby limiting the rotation of the auxiliary suction cup 329, keeping the current position of the door stable, avoiding changes in the door position due to accidental collisions or misoperation, greatly improving the accuracy and efficiency of the assembly work, and at the same time broadening the application scope of the device in different complex assembly scenarios, and improving the overall practicality and safety.

[0027] The auxiliary support frame 325 is used to support the auxiliary suction cup 329 , and the elastic member 326 is internally provided with a guide column and a spring.

[0028] The vacuum suction cup fixing device 32 also includes an air pump 34, a flip motor 35 and a rotating motor 36. The air pump 34 is arranged on the side of the mobile trolley 2 away from the tool trolley 33 and is connected to the first fixed suction cup 324 and the auxiliary suction cup 329 to transmit air pressure to the first fixed suction cup 324 and the auxiliary suction cup 329. The rotating motor 36 is connected to the steering wheel 321 to drive the flip disc 323 to rotate. The flip motor 35 is fixed on the special-shaped bracket 322 and is connected to the flip disc 323 to rotate. The turntable 323 is connected to drive the flip plate 323 to flip; the air pump 34 is used to transmit air pressure to the first fixed suction cup 324 and the auxiliary suction cup 329 so that the suction cup can suck the car door, thereby ensuring the installation stability of the car door, the flip motor 35 is used to drive the flip plate 323 to flip at multiple angles, and the rotating motor 36 is used to drive the steering wheel 321 to turn at multiple angles, so that the car door fixed on the first fixed suction cup 324 can not only move in the X, Y, and Z axes but also turn and flip, thereby meeting the assembly requirements.

[0029] The X-axis linear motion device 311 includes an X-axis screw 3111, a first movable bracket 3112 provided on the X-axis screw 3111 and moving along the X-axis screw 3111, and an X-axis servo motor 3113 for driving the X-axis screw 3111 to rotate, so that the door can move in the X-axis direction. The Z-axis linear motion device 313 includes a Z-axis screw 3131 provided between the two first movable brackets 3112, a second movable bracket 3132 provided on the Z-axis screw 3131 and moving along the Z-axis screw 3131, and an X-axis servo motor 3113 for driving the Z-axis screw 3111 to rotate. The rod 3131 rotates to drive the Z-axis servo motor 3133 to move the second movable bracket 3132, so that the car door can move in the Z-axis direction. The Y-axis linear motion device 312 includes a lifting cylinder 3121 arranged below the second movable bracket 3132, and an extension plate 3122 arranged at the output end of the lifting cylinder 3121. The steering wheel 321 and the rotating motor 36 are arranged on the extension plate 3122. The setting of the extension plate 3122 ensures that the flip plate 323 and the steering wheel 321 can move on the Y-axis without interfering with the second movable bracket 3132.

[0030] The X-axis linear motion device 311 also includes an X-axis auxiliary guide rod 37, located near the X-axis screw 3111. The first movable bracket 3112 is slidably connected to the X-axis auxiliary guide rod 37. The Z-axis linear motion device 313 also includes a Z-axis auxiliary guide rod 38, located near the Z-axis screw 3131. The second movable bracket 3132 is slidably connected to the Z-axis auxiliary guide rod 38. The X-axis auxiliary guide rod 37 provides a precise guide path for the movement of the first movable bracket 3112 in the X-axis direction. When the X-axis screw 3111 rotates to drive the first movable bracket 3112 to move, the X-axis auxiliary guide rod 37 ensures that the first movable bracket 3112 moves along the predetermined X-axis linear trajectory, preventing deviation or shaking, and ensuring linear and smooth motion. The Z-axis auxiliary guide rod 38 provides a similar guiding function for the second movable bracket 3132 in the Z-axis direction. During the process of the Z-axis screw 3131 driving the second movable bracket 3132 to move, the Z-axis auxiliary guide rod 38 enables the second movable bracket 3132 to move strictly in the linear direction of the Z-axis, avoiding motion deviation caused by external interference or other factors. At the same time, the X-axis auxiliary guide rail and the Z-axis guide rod can share part of the radial force for the X-axis screw 3111 and the Z-axis screw 3131, which is beneficial to extend the service life of the screw and can improve the reliability and stability of the entire linear motion device when bearing large loads.

[0031] The opposing moving mechanism 5 includes two opposing servo motors 51 and two bidirectional screws 52. The two opposing servo motors 51 are respectively arranged on both sides of the width direction of the top frame 1 and are located at the same end in the length direction of the top frame 1. The two bidirectional screws 52 are rotatably arranged at the lower end of the top frame 1 and are respectively located at the two ends in the width direction of the top frame 1. The length direction of the two bidirectional screws 52 is consistent with the length direction of the top frame 1. The ends of the two bidirectional screws 52 close to the opposing servo motors 51 pass through the top frame 1 and the opposing servo motors 51 respectively through a set of sprockets 53. Transmission connection, each set of sprockets 53 is arranged on the corresponding servo motor and the bidirectional screw 52, ​​the spiral directions of the two ends of each bidirectional screw 52 are opposite, and each bidirectional screw 52 is screwed to the upper ends of the two guide rods 4 at the corresponding positions; working principle: the two servo motors drive the sprocket 53 group and the bidirectional screw 52 to rotate, so that the two guide rods 4 located on the same side of the width direction of the top frame 1 move toward each other, and then the two mobile carts 2 and the two tool carts 33 located on both sides of the length direction of the top frame 1 are close to or away from each other, thereby meeting the door installation requirements of vehicle models with different widths.

[0032] The working principle of the present invention is as follows: in the vehicle door assembly device 3, the first fixed suction cup 324 of the vacuum suction cup fixing device 32 determines the initial position of the vehicle door and supports it, and the auxiliary suction cup 329 cooperates with the universal ball 328 and the elastic part 326 to adaptively fit the vehicle door to enhance the fixing effect. The ball lock cylinder 3271 can lock the universal ball 328 to accurately fix the vehicle door, and the air pump 34, the rotating motor 36, and the flip motor 35 respectively supply pressure to the suction cup, drive the steering wheel 321 to rotate, and drive the flip plate 323 to flip, and cooperate with the three-axis moving slide 31 to realize the X, Y, and Z axis movement of the vehicle door; at the same time, the X-axis and Z-axis linear motion devices realize precise linear motion with the help of screws, servo motors and corresponding auxiliary guide rods, and the Y-axis linear motion device drives the extension plate 3122 to move through the lifting cylinder 3121. The opposing moving mechanism 5 relies on two opposing servo motors 51 to drive the sprocket 53 group and the bidirectional screw 52 to rotate, so that the guide rod 4 drives the moving trolley 2 and the tool trolley 33 to move towards each other to meet the installation requirements of vehicle doors of different widths. The various parts work together to ensure the precise assembly of the vehicle doors.

[0033] The above contents are some specific implementation methods of the present invention and do not limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible tooling for synchronous assembly of automobile doors, comprising a top frame, a pair of symmetrically mounted oppositely movable trolleys on the top frame, and a door assembly device mounted on the oppositely movable trolleys, wherein the oppositely movable trolleys are connected to the top frame via guide rods, and characterized in that: The door assembly device includes a three-axis movable slide, a vacuum suction cup fixing device arranged on the three-axis movable slide and a tool cart, the three-axis movable slide is fixedly arranged on the opposite movable cart, the vacuum suction cup fixing device includes a steering wheel arranged on the three-axis movable slide, the steering wheel is provided with a special-shaped bracket, the front end of the special-shaped bracket is provided with a flip plate, the flip plate is provided with a first fixed suction cup and an auxiliary bracket, the auxiliary bracket is provided with an elastic part, the elastic part is provided with a support tube, the top of the support tube is provided with a universal ball, the universal ball is provided with an auxiliary suction cup, a ball lock cylinder is provided in the support tube, and the ball lock cylinder is provided with a ball lock disk for abutting against the universal ball for locking the rotation of the universal ball.

2. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: The vacuum suction cup fixing device also includes an air pump, a flip motor and a rotating motor. The air pump is arranged on the side of the mobile cart away from the tool cart and is connected to the first fixed suction cup and the auxiliary suction cup, and is used to transmit air pressure to the first fixed suction cup and the auxiliary suction cup. The rotating motor is connected to the steering wheel and is used to drive the flip plate to rotate. The flip motor is fixed on the special-shaped bracket and is connected to the flip plate to drive the flip plate to flip.

3. The flexible tooling for synchronous assembly of automobile doors according to claim 2, characterized in that: The three-axis movable slide includes an X-axis linear motion device, a Y-axis linear motion device and a Z-axis linear motion device. The X-axis linear motion device is fixedly arranged on the movable carriage along the length direction of the movable carriage, the Z-axis linear motion device is arranged on the X-axis linear motion device, the Y-axis linear motion device is arranged on the Z-axis linear motion device, and the steering wheel is fixedly arranged on the Z-axis linear motion device.

4. The flexible tooling for synchronous assembly of automobile doors according to claim 3, characterized in that: The X-axis linear motion device includes an X-axis screw, a first movable bracket arranged on the X-axis screw and moving along the X-axis screw, and an X-axis servo motor for driving the X-axis screw to rotate. The Z-axis linear motion device includes a Z-axis screw arranged between the two first movable brackets, a second movable bracket arranged on the Z-axis screw and moving along the Z-axis screw, and a Z-axis servo motor for driving the Z-axis screw to rotate and drive the second movable bracket to move. The Y-axis linear motion device includes a lifting cylinder arranged below the second movable bracket, an extension plate arranged at the output end of the lifting cylinder, and the steering wheel and the rotating motor are arranged on the extension plate.

5. The flexible tooling for synchronous assembly of automobile doors according to claim 4, characterized in that: The X-axis linear motion device also includes an X-axis auxiliary guide rod, which is arranged on a side close to the X-axis screw, and the first movable bracket is slidably connected to the X-axis auxiliary guide rod. The Z-axis linear motion device also includes a Z-axis auxiliary guide rod, which is arranged on a side close to the Z-axis screw, and the second movable bracket is slidably connected to the Z-axis auxiliary guide rod.

6. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: It also includes an opposing moving mechanism, which includes two opposing servo motors and two bidirectional screws, the two opposing servo motors are respectively arranged on both sides of the width direction of the top frame and are located at the same end in the length direction of the top frame, the two bidirectional screws are rotatably arranged at the lower end of the top frame and are respectively located at the two ends in the width direction of the top frame, the length direction of the two bidirectional screws is consistent with the length direction of the top frame, the ends of the two bidirectional screws close to the opposing servo motors pass through the top frame and are connected to the opposing servo motors through a set of sprockets, each set of sprockets is arranged on the corresponding servo motor and the bidirectional screw, the spiral directions of the two ends of each bidirectional screw are opposite, and each bidirectional screw is screwed to the upper ends of the two guide rods at the corresponding positions.

7. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: The tool cart is provided with a synchronous belt slide and a tool tray. The tool tray is arranged on the synchronous belt slide through a lifting device. The lifting device is vertically arranged on the synchronous belt slide. The tool tray is rotatably arranged on the top of the lifting device.

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