A high-flexibility assembly auxiliary limit device for vehicle doors

Abstract

The present invention discloses a high-flexibility assembly auxiliary limiting device for vehicle doors, which relates to the technical field of vehicle assembly and includes a power-assisted robotic arm. A flexible limiting component is arranged at the movable end of the power-assisted robotic arm; through the settings of the placement seat, spring two and spring five, when the placement seat contacts the vehicle door, the placement seat squeezes the push plate through the double connecting rods, causing the push plate to squeeze spring two for buffering. When the vehicle door tilts and contacts the vacuum suction cup, the baffle squeezes spring five for buffering, thereby preventing the vacuum suction cup from being damaged when the vehicle door tilts and achieving the buffering effect; through the settings of spring three and spring four, when the incompletely aligned vehicle door hinge connecting piece collides with the vehicle door hinge connection, the spring four is squeezed through the sleeve for buffering, and at the same time, the slider squeezes spring three for further buffering and energy absorption, avoiding damage to the vehicle door hinge connection and other connections due to rigid contact.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assembly, and in particular, to a high-flexibility assembly auxiliary limiting device for vehicle doors. Background Art

[0002] Automobile assembly auxiliary devices usually take the form of a power-assisted robotic arm cooperating with a bracket. It is a novel power-assisted device for material handling, enabling an operator to balance and position a heavy object in space by performing corresponding pushing and pulling operations. On an automobile production line, a power-assisted robotic arm can easily carry a vehicle door to the side of the vehicle body and complete the docking and installation of the vehicle door to the vehicle body.

[0003] In the prior art, an automobile assembly auxiliary device requires manual operation. The vehicle door is removed from the vehicle door placement rack and clamped, and then inserted and installed by aligning with the vehicle door hinge. However, due to certain errors when manually operating the power-assisted robotic arm, when the power-assisted robotic arm drives the bracket to rise and support the bottom of the vehicle door, the bracket will rub against or even collide with the bottom of the vehicle door. For example, on a high-speed automated assembly line, if the movement speed of the power-assisted robotic arm is not properly controlled and it suddenly contacts the vehicle door, the contact part is easily damaged, and it will also impact the bracket and the vehicle door placement rack, increasing the wear of the automobile assembly auxiliary device and the vehicle door placement rack and affecting the service life of the automobile assembly auxiliary device and the vehicle door placement rack.

[0004] To solve the above problems, a high-flexibility assembly auxiliary limiting device for vehicle doors is proposed. Summary of the Invention

[0005] To solve the above technical problems, a high-flexibility assembly auxiliary limiting device for vehicle doors is provided.

[0006] To achieve the above object, the present invention can adopt the following technical solutions:

[0007] The present invention provides a high-flexibility assembly auxiliary limiting device for vehicle doors, including: a power-assisted robotic arm, and a flexible limiting component is arranged at the movable end of the power-assisted robotic arm;

[0008] The flexible limit component includes a fixed column rotatably connected to the movable end of the boosting robotic arm. The bottom of the fixed column is fixedly connected with a rotating seat. The bottom end of the rotating seat is rotatably connected with a rotating block. The top inside the rotating seat is rotatably connected with a first cylinder. The telescopic end of the first cylinder is rotatably connected with the rotating block. A fixed plate is fixedly connected to the side of the rotating block away from the first cylinder. A lifting plate is arranged on the top of the fixed plate. A fixed seat is fixedly connected to the top of the lifting plate. A handle is fixedly connected to the fixed seat. A sliding rod is slidably arranged on the fixed seat. Pipe sleeves are fixedly connected to both ends of the sliding rod. Vacuum suction cups are slidably connected inside both pipe sleeves. A fourth spring is arranged between the pipe sleeve and the fixed seat. Flap plates are fixedly connected to both vacuum suction cups. A fifth spring is connected between the flap plate and the adjacent pipe sleeve. A bracket is fixedly connected to the bottom of the fixed plate. A base is fixedly installed on the bracket. A first sliding groove is formed in the base. A placing seat is slidably connected inside the first sliding groove. A buffer component for buffering and shock-absorbing the placing seat is arranged inside the base.

[0009] Preferably, the buffer component includes a second sliding groove formed in the bottom of the placing seat. A slider is slidably arranged inside the second sliding groove. A shock-absorbing plate is fixedly connected to the bottom of the slider. Multiple groups of double linkages are symmetrically rotatably connected to the bottom of the shock-absorbing plate. Each group includes two double linkages. Each double linkage includes an upper link and a lower link. The upper link is rotatably connected to the lower link. The end of the upper link away from the lower link is rotatably connected to the bottom of the shock-absorbing plate. The end of the lower link away from the upper link is rotatably connected to the bracket. Two push plates are arranged inside the base. The double linkages are arranged between the two push plates. The two double linkages in each group are respectively abutted against the two push plates. A second spring is connected between the side of the push plate away from the double linkage and the inner wall of the base. A third spring is connected between the slider and the second sliding groove.

[0010] Preferably, a fixed frame is fixedly connected to the top end of the fixed plate. A second cylinder is fixedly installed inside the fixed frame. The telescopic end of the second cylinder is fixedly connected with the lifting plate. A third sliding groove is formed in the fixed plate. The lifting plate is slidably connected with the third sliding groove. A limiting block is fixedly connected to the end of the lifting plate passing through the third sliding groove.

[0011] Preferably, an auxiliary assembly component is further provided on the fixing plate. The auxiliary assembly component includes an electric telescopic rod III fixedly installed on the fixing plate. A rotating frame I is fixedly arranged at the telescopic end of the electric telescopic rod III. An electric telescopic rod I and an electric telescopic rod II are rotatably connected inside the rotating frame I. A rotating frame II is rotatably connected between the telescopic ends of the electric telescopic rod I and the electric telescopic rod II. A mounting seat is fixedly connected to the side of the rotating frame II away from the electric telescopic rod I and the electric telescopic rod II. A bit is arranged on the mounting seat. A driven gear is rotatably connected to the mounting seat. The bit is slidably connected inside the driven gear. A motor I is fixedly arranged on the mounting seat. The output end of the motor I passes through the mounting seat and is rotatably connected to the mounting seat. A driving gear is fixedly arranged at the output end of the motor I. The driving gear meshes with the driven gear. An industrial camera is fixedly installed on the top of the mounting seat. An electromagnet is fixedly installed at a position corresponding to the driven gear on the mounting seat.

[0012] Preferably, a movable groove is formed on the mounting seat. The movable groove is located between the driven gear and the electromagnet. A movable iron core is fixedly connected to the side of the bit close to the electromagnet. A spring I is arranged between the movable iron core and the movable groove.

[0013] Preferably, a motor II is fixedly installed on the top of the rotating frame I. The output end of the motor II passes through the rotating frame I and is fixedly connected to the electric telescopic rod I.

[0014] Preferably, a triangular groove is formed on the top of the placing seat.

[0015] As described above, the advantages of the present invention are:

[0016] Through the settings of the placing seat, spring II and spring V, when the placing seat contacts the car door, the placing seat squeezes the push plate through the double connecting rods, so that the push plate squeezes the spring II for buffering. When the car door tilts and contacts the vacuum suction cup, the baffle will squeeze the spring V for buffering, thereby preventing the vacuum suction cup from being damaged when the car door tilts, and then achieving the buffering effect, which can effectively avoid the damage caused by the rigid contact between the device and the bottom of the car door and reduce the wear caused by the collision;

[0017] Through the settings of spring III and spring IV, when the uncompletely aligned car door hinge connecting piece collides with the car door hinge connection, the impact will be conducted to the car door through the car door hinge connecting piece, so that the connection between the car door and the placing seat and the vacuum suction cup is impacted. At this time, the car door will drive the vacuum suction cup and the placing seat to move away from the vehicle body, so that the pipe sleeve squeezes the spring IV for buffering. At the same time, the placing seat will slide on the surface of the shock-absorbing plate, so that the slider squeezes the spring III, thereby further buffering and absorbing energy to avoid the damage of the car door hinge connection and other connections caused by rigid contact;

[0018] Through the setting of the industrial camera and the electromagnet, after the door hinge connecting piece is inserted into the door hinge connection, the industrial camera is used to detect the bolt hole position, and the bolt on the mounting seat is aligned with the bolt hole by means of a controller and other devices. When the bolt is aligned with the mounting hole position, the electromagnet is powered off, the first spring resets and extends, and pushes the moving iron core and the bit to slide in the direction close to the mounting hole position, so that the bolt in the bit is inserted into the mounting hole position. Subsequently, the first motor starts, drives the driving gear to rotate, and the driving gear drives the bit to rotate through the driven gear, and the bolt can be initially screwed into the mounting hole position, which saves time and effort and helps to improve the efficiency of door assembly. Brief Description of the Drawings

[0019] Figure 1 Schematic three-dimensional view of the overall structure shown in the present invention;

[0020] Figure 2 Schematic three-dimensional view of the rotating block and the first cylinder shown in the present invention;

[0021] Figure 3 Schematic three-dimensional view of the base and the placing seat shown in the present invention;

[0022] Figure 4 As shown in the present invention Figure 2 Enlarged schematic view of part A;

[0023] Figure 5 Schematic three-dimensional view of the first rotating frame and the second motor shown in the present invention;

[0024] Figure 6 As shown in the present invention Figure 3 Enlarged schematic view of part B;

[0025] Figure 7 As shown in the present invention Figure 5 Enlarged schematic view of part C;

[0026] Figure 8 Schematic three-dimensional view of the movable groove, the first spring and the bit shown in the present invention;

[0027] Figure 9 Schematic three-dimensional view of the push plate and the double link shown in the present invention;

[0028] Figure 10 Schematic three-dimensional view of the second sliding groove and the slider shown in the present invention;

[0029] Figure 11 As shown in the present invention Figure 3 Enlarged schematic view of part D.

[0030] Among them, the reference numerals in the present invention are: 1, the assisting robotic arm;

[0031] 201, Fixed column; 202, Rotating seat; 203, Rotating block; 204, Cylinder 1; 205, Fixed plate; 206, Lifting plate; 207, Fixed seat; 208, Handle; 209, Sliding rod; 210, Sleeve; 211, Vacuum suction cup; 212, Bracket; 213, Base; 214, First sliding groove; 215, Placing seat;

[0032] 301, First rotating frame; 302, First electric telescopic rod; 303, Second electric telescopic rod; 304, Second rotating frame; 305, Mounting seat; 306, Bit; 307, Driven gear; 308, Driving gear; 309, Motor 1; 310, Industrial camera; 311, Electromagnet; 312, Motor 2; 313, Moving groove; 314, Moving iron core; 315, First spring; 316, Third electric telescopic rod;

[0033] 401, Shock-absorbing plate; 402, Double connecting rod; 403, Pushing plate; 404, Second spring; 405, Second sliding groove; 406, Slide block; 407, Third spring; 408, Fixed frame; 409, Cylinder 2; 410, Third sliding groove; 411, Limit block; 412, Fourth spring; 413, Flap; 414, Fifth spring. Detailed implementation manner

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] As Figures 1 to 11 shown, it is an embodiment provided by the present invention, and an auxiliary limit device for high-flexibility assembly of vehicle doors provided will be elaborated in detail below:

[0036] An auxiliary limit device for high-flexibility assembly of vehicle doors, as Figures 1 to 5 as well as Figure 9 and Figure 11 shown, includes a power-assisted robotic arm 1. A flexible limit component is arranged at the movable end of the power-assisted robotic arm 1. The power-assisted robotic arm 1 is a conventional structure;

[0037] The flexible limit component includes a fixed column 201 rotatably connected to the movable end of the power-assisted robotic arm 1. The fixed column 201 is driven by the power-assisted robotic arm 1 to rotate. A rotating seat 202 is fixedly connected to the bottom of the fixed column 201. The rotating seat 202 is inclined and gradually moves away from the power-assisted robotic arm 1 from top to bottom. A rotating block 203 is rotatably connected to the bottom end of the rotating seat 202. A first cylinder 204 is rotatably installed at the top inside the rotating seat 202. The telescopic end of the first cylinder 204 is rotatably connected to the rotating block 203. When the first cylinder 204 expands and contracts, it drives the rotating block 203 to rotate inside the rotating seat 202, thereby driving the fixed plate 205 to rotate for angle adjustment. A fixed plate 205 is fixedly connected to the side of the rotating block 203 away from the first cylinder 204. A lifting plate 206 is arranged on the top of the fixed plate 205. A fixed seat 207 is fixedly connected to the top of the lifting plate 206. A handle 208 is fixedly connected to the fixed seat 207. A controller is arranged on the handle 208. The controller is a prior art and is used to control the power-assisted robotic arm 1 and the first cylinder 204. A sliding rod 209 is slidably arranged on the fixed seat 207. The sliding rod 209 is located above the handle 208. Pipe sleeves 210 are fixedly connected to both ends of the sliding rod 209. Vacuum suction cups 211 are slidably connected inside the two pipe sleeves 210. A bracket 212 is fixedly connected to the bottom of the fixed plate 205. The bracket 212 is located on the side of the fixed plate 205 away from the power-assisted robotic arm 1. A base 213 is fixedly installed on the bracket 212. The base 213 is in a concave shape. A first sliding groove 214 is formed in the base 213. A placement seat 215 is slidably connected inside the first sliding groove 214. A triangular groove for placing a car door is formed on the top of the placement seat 215. Spring fours 412 are connected between the two pipe sleeves 210 and the fixed seat 207. The spring fours 412 are sleeved on the sliding rod 209. Flaps 413 are fixedly connected to both of the two vacuum suction cups 211. Spring fives 414 are fixedly connected between the two flaps 413 and the two pipe sleeves 210. The vacuum suction cup 211 is composed of a suction cup and a suction cup rod. The suction cup rod is internally connected to the suction cup. The suction cup rod is slidably connected to the pipe sleeve 210. A flap 413 is fixedly connected to the outside of the suction cup rod. One end of the suction cup rod away from the suction cup is connected to an external air pump. The external air pump is controlled by the controller on the handle 208. During use, the external air pump pumps out the air between the suction cup and the window glass through the suction cup rod to achieve adsorption. The spring five 414 is sleeved on the suction cup rod of the vacuum suction cup 211. A buffer component for buffering and damping the placement seat 215 is arranged inside the base 213.

[0038] Such as Figure 1 、 Figure 2 and Figure 4As shown, a fixed frame 408 is fixedly connected to the top end of the fixed plate 205. A second cylinder 409 is fixedly installed inside the fixed frame 408. The telescopic end of the second cylinder 409 is fixedly connected to the lifting plate 206. A third sliding groove 410 is formed on the fixed plate 205. The lifting plate 206 is slidably connected to the third sliding groove 410. One end of the lifting plate 206 passing through the third sliding groove 410 is fixedly connected to a limiting block 411.

[0039] Furthermore, as Figures 1 to 3 and Figures 5 to 8 shown, an auxiliary assembly component is arranged in the middle of the fixed plate 205. The auxiliary assembly component includes an electric telescopic rod three 316 fixedly installed in the middle of the fixed plate 205. The telescopic end of the electric telescopic rod three 316 is fixedly provided with a first rotating frame 301. An electric telescopic rod one 302 and an electric telescopic rod two 303 are rotatably connected inside the first rotating frame 301. A second rotating frame 304 is rotatably connected between the telescopic ends of the electric telescopic rod one 302 and the electric telescopic rod two 303. A mounting seat 305 is fixedly connected to the side of the second rotating frame 304 away from the electric telescopic rod one 302 and the electric telescopic rod two 303. The mounting seat 305 is L-shaped. A bit 306 is arranged on one side of the mounting seat 305. A driven gear 307 is rotatably connected to the mounting seat 305. A key is fixedly connected to the outer surface of the bit 306. The bit 306 is slidably connected to the keyway of the driven gear 307 through the key, and at the same time, it does not affect the driven gear 307 driving the bit 306 to rotate. The bit 306 is slidably connected inside the driven gear 307. A first motor 309 is fixedly arranged on the mounting seat 305. The output end of the first motor 309 passes through the mounting seat 305 and is rotatably connected to the mounting seat 305. A driving gear 308 is fixedly arranged at the output end of the first motor 309. The driving gear 308 meshes with the driven gear 307. An industrial camera 310 is fixedly installed on the top of the mounting seat 305. An electromagnet 311 is fixedly installed at a position corresponding to the driven gear 307 on the mounting seat 305. When the electromagnet 311 is energized, it can adsorb the bolt on the bit 306, eliminating the need for manual fixation. A second motor 312 is fixedly installed on the top of the first rotating frame 301. The output end of the second motor 312 passes through the first rotating frame 301 and is fixedly connected to the electric telescopic rod one 302. An activity groove 313 is formed on the mounting seat 305. The activity groove 313 is located between the driven gear 307 and the electromagnet 311. A moving iron core 314 is fixedly connected to the side of the bit 306 close to the electromagnet 311. After the electromagnet 311 is energized, it forms a magnetic attraction fit with the moving iron core 314. A first spring 315 is arranged inside the activity groove 313. The two ends of the first spring 315 are respectively fixedly connected to the activity groove 313 and the moving iron core 314. The first motor 309, the industrial camera 310, the electric telescopic rod one 302, the electric telescopic rod two 303, the electric telescopic rod three 316, the electromagnet 311 and the second motor 312 are all electrically connected to the controller on the handle 208.

[0040] Further, as Figures 1 to 3 and Figures 9 to 10 shown, the buffer assembly includes a second sliding groove 405 opened at the bottom of the placing seat 215. A slider 406 is slidably arranged in the second sliding groove 405. A shock-absorbing plate 401 is fixedly connected to the bottom of the slider 406. A plurality of groups of double linkages 402 are symmetrically and rotatably connected to the bottom of the shock-absorbing plate 401. Each group includes two double linkages 402. Each double linkage 402 includes an upper link and a lower link. The upper link is rotatably connected to the lower link. One end of the upper link away from the lower link is rotatably connected to the bottom of the shock-absorbing plate 401. One end of the lower link away from the upper link is rotatably connected to the bracket 212. Two push plates 403 are arranged in the base 213. The double linkages 402 are arranged between the two push plates 403. The two double linkages 402 in each group are respectively abutted against the two push plates 403. A second spring 404 is connected between one side of the push plate 403 away from the double linkage 402 and the inner wall of the base 213. A third spring 407 is arranged between both sides of the slider 406 and the second sliding groove 405.

[0041] Combined with the above embodiments, the following is the entire working process and working principle of the above embodiments:

[0042] The initial state is:

[0043] The first cylinder 204 is not started, the rotating block 203 does not rotate, the fixing plate 205 is in a vertical state, the second cylinder 409 is not contracted, the lifting plate 206 is located at the top end in the third sliding groove 410, the first electric telescopic rod 302, the second electric telescopic rod 303, the third electric telescopic rod 316, the first motor 309, the electromagnet 311 and the second motor 312 are not started, the first spring 315 is not squeezed, the second spring 404 is in a squeezed state, the double linkage 402 abuts against the adjacent push plate 403, the third spring 407 is in a squeezed state, the slider 406 is located in the middle of the second sliding groove 405, the fourth spring 412 is in a squeezed state, the fixing seat 207 is located in the middle of the sliding rod 209, and the fifth spring 414 is in a squeezed state.

[0044] The working state is:

[0045] Fix the car door:

[0046] When it is necessary to install the car door on the external placement rack onto the vehicle body, the staff holds the handle 208 and controls the power-assisted robotic arm 1 through the controller on the handle 208, so that the power-assisted robotic arm 1 moves the placement seat 215 to directly below the car door. Subsequently, it drives the placement seat 215 to move upward, so that the bottom of the car door is snapped into the triangular groove of the placement seat 215. Then, the staff releases the limit of the external car door placement rack on the car door, so that the weight of the car door falls on the placement seat 215. Then, the staff pushes the car door to make it tilt towards the fixed column 201. At this time, the window glass of the car door contacts the vacuum suction cup 211, and the staff can make the vacuum suction cup 211 suck the window glass through the controller, so that the car door is fixed on this device.

[0047] Car door buffering:

[0048] When the staff operates the power-assisted robotic arm 1 to make the placement seat 215 rise until the placement seat 215 contacts the car door, the reaction force generated by the contact between the placement seat 215 and the bottom of the car door will press down the shock-absorbing plate 401, making the shock-absorbing plate 401 move downward and squeeze the double-link 402. Thus, the double-link 402 pushes the push plate 403 under the squeezing action, and then the push plate 403 squeezes the second spring 404. The reaction force is relieved through the second spring 404. When the car door tilts towards the power-assisted robotic arm 1 on the placement seat 215, the car door contacts and squeezes the vacuum suction cup 211, making the retaining piece 413 squeeze the fifth spring 414 for buffering, so as to prevent the vacuum suction cup 211 from being damaged when the car door tilts. Furthermore, the buffering effect is achieved, which can effectively avoid the damage caused by the rigid contact between the device and the bottom of the car door and reduce the wear caused by the collision.

[0049] Inserting the connecting piece:

[0050] After the car door is fixed on the top of the placement seat 215, the staff puts the bolt into the bit 306 and activates the electromagnet 311. The electromagnet 311 generates an adsorption effect on the moving iron core 314, making the moving iron core 314 drive the bit 306 to slide into the movable slot 313 and squeeze the first spring 315, so that the bolt is adsorbed on the bit 306 under the magnetic force. Then, the staff continues to control the power-assisted robotic arm 1 through the controller, so that the power-assisted robotic arm 1 drives the car door towards the vehicle body, making the hinge connecting piece of the car door close to the car door hinge connection. Then, the staff uses the power-assisted robotic arm 1 to insert the car door hinge connecting piece into the car door hinge connection.

[0051] Hinge buffering:

[0052] During the process of aligning the door hinge connector with the door hinge connection point and gradually inserting it, if the door hinge connector and the door hinge connection point are not fully aligned, when the staff further controls the power-assisted robotic arm 1 to drive the door closer to the vehicle body, the not-yet-fully-aligned door hinge connector will collide with the door hinge connection point. The impact will be transmitted to the door through the door hinge connector, causing the connection between the door and the placement seat 215 and the vacuum suction cup 211 to be impacted. At this time, the door will drive the vacuum suction cup 211 and the placement seat 215 to move away from the vehicle body, causing the sleeve 210 to compress the fourth spring 412 for buffering. At the same time, the placement seat 215 will slide on the surface of the shock-absorbing plate 401, causing the slider 406 to compress the third spring 407, thereby further buffering and absorbing energy to avoid damage to the door hinge connection point and other connection points due to rigid contact.

[0053] Insert the bolt:

[0054] After the door hinge connecting piece is inserted into the door hinge connection, the industrial camera 310 can be activated. After the industrial camera 310 detects the bolt hole position, the electric telescopic rod three 316 is activated to drive the lifting of the rotating frame one 301, so as to drive the lifting of the bit 306 and the bolt through the electric telescopic rod one 302, the electric telescopic rod two 303 and the rotating frame two 304, so that the bolt moves to the same height as the bolt hole position. Subsequently, the motor two 312 is started through the controller. The motor two 312 drives the electric telescopic rod one 302 to rotate, so that the electric telescopic rod one 302 drives the rotating frame two 304 to swing. Since the lengths of the electric telescopic rod one 302 and the electric telescopic rod two 303 are kept the same initially, the rotating frame one 301, the electric telescopic rod one 302, the electric telescopic rod two 303 and the rotating frame two 304 together form a parallelogram. When the electric telescopic rod one 302 drives the rotating frame two 304 to rotate, the electric telescopic rod two 303 rotates synchronously. Thus, when the electric telescopic rod one 302 rotates, the mounting seat 305 gradually approaches the door hinge connection. And the electric telescopic rod one 302 and the electric telescopic rod two 303 can be telescoped synchronously, so as to adjust the position of the mounting seat 305. At the same time, according to the different angles of the bolt hole positions, the electric telescopic rod one 302 or the electric telescopic rod two 303 can be controlled separately to be telescoped. When the electric telescopic rod one 302 is telescoped alone, it will drive the rotating frame two 304, the electric telescopic rod two 303 and the mounting seat 305 to rotate correspondingly, so as to adjust the orientation of the bolt. When the electric telescopic rod two 303 is telescoped alone, it will also drive the rotating frame two 304, the electric telescopic rod one 302 and the mounting seat 305 to rotate correspondingly, so that the bolt in the bit 306 can be aligned with the mounting hole position, achieving the effect of adapting to the installation requirements of different models of doors. It should be noted that using the industrial camera 310 to detect the bolt hole position and driving the bolt on the mounting seat 305 to align with the bolt hole through devices such as the controller is the prior art, and its principle will not be elaborated here. After the bolt is aligned with the mounting hole position, the electromagnet 311 is powered off, the spring one 315 resets and extends to push the moving iron core 314 and the bit 306 to slide in the direction close to the mounting hole position, so as to insert the bolt in the bit 306 into the mounting hole position. Subsequently, the motor one 309 is started to drive the driving gear 308 to rotate. The driving gear 308 drives the bit 306 to rotate through the driven gear 307, and the bolt can be initially screwed into the mounting hole position, saving time and effort and helping to improve the efficiency of door assembly.

[0055] Flexible adjustment:

[0056] According to the different heights of the doors of different models, the second cylinder 409 can be started before the vacuum suction cup 211 adsorbs the car door, so that the second cylinder 409 contracts. The second cylinder 409 drives the lifting plate 206 to descend. The lifting plate 206 slides downward inside the third sliding groove 410 under the limitation of the limiting block 411, thereby driving the fixed seat 207 to descend, and further driving the sliding rod 209, the pipe sleeve 210 and the vacuum suction cup 211 to descend. Thus, when installing a small car door, the vacuum suction cup 211 can descend to a position aligned with the window glass, and the applicability is stronger.

[0057] The above are only embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A high-flexibility assembly auxiliary limiting device for a vehicle door, comprising a power-assisted robotic arm (1), characterized in that, The movable end of the assisting robotic arm (1) is provided with a flexible limiting component; The flexible limiting component includes a fixed column (201) rotatably connected to the movable end of the assisting robotic arm (1). The bottom of the fixed column (201) is fixedly connected to a rotating seat (202). The bottom end of the rotating seat (202) is rotatably connected to a rotating block (203). The inner top of the rotating seat (202) is rotatably connected to a first cylinder (204). The telescopic end of the first cylinder (204) is rotatably connected to the rotating block (203). A fixing plate (205) is fixedly connected to the side of the rotating block (203) away from the first cylinder (204). A lifting plate (206) is arranged on the top of the fixing plate (205). A fixing seat (207) is fixedly connected to the top of the lifting plate (206). A handle (208) is fixedly connected to the fixing seat (207). A sliding rod (209) is slidably arranged on the fixing seat (207). Both ends of the sliding rod (209) are fixedly connected with sleeve pipes (210). A vacuum suction cup (211) is slidably connected in each of the two sleeve pipes (210). A fourth spring (412) is arranged between the sleeve pipe (210) and the fixing seat (207). A retaining piece (413) is fixedly connected to each of the two vacuum suction cups (211). A fifth spring (414) is connected between the retaining piece (413) and the adjacent sleeve pipe (210). A bracket (212) is fixedly connected to the bottom of the fixing plate (205). A base (213) is fixedly installed on the bracket (212). A first sliding groove (214) is formed in the base (213). A placing seat (215) is slidably connected in the first sliding groove (214). A buffer component for buffering and damping the placing seat (215) is arranged in the base (213).

2. The high-flexibility assembly auxiliary limit device for a vehicle door according to claim 1, wherein The buffer component includes a second sliding groove (405) formed in the bottom of the placing seat (215). A slider (406) is slidably arranged in the second sliding groove (405). A damping plate (401) is fixedly connected to the bottom of the slider (406). A plurality of groups of double linkages (402) are symmetrically rotatably connected to the bottom of the damping plate (401). Each group includes two double linkages (402). Each double linkage (402) includes an upper link and a lower link. The upper link is rotatably connected to the lower link. The end of the upper link away from the lower link is rotatably connected to the bottom of the damping plate (401). The end of the lower link away from the upper link is rotatably connected to the bracket (212). Two push plates (403) are arranged in the base (213). The double linkages (402) are arranged between the two push plates (403). The two double linkages (402) in each group are respectively abutted against the two push plates (403). A second spring (404) is connected between the side of the push plate (403) away from the double linkage (402) and the inner wall of the base (213). A third spring (407) is connected between the slider (406) and the second sliding groove (405).

3. The high-flexibility assembly auxiliary limit device for a vehicle door according to claim 1, characterized in that The top end of the fixed plate (205) is fixedly connected with a fixed frame (408). A second cylinder (409) is fixedly installed inside the fixed frame (408). The telescopic end of the second cylinder (409) is fixedly connected with a lifting plate (206). A third sliding groove (410) is formed in the fixed plate (205). The lifting plate (206) is slidably connected with the third sliding groove (410). One end of the lifting plate (206) passing through the third sliding groove (410) is fixedly connected with a limiting block (411).

4. The high-flexibility assembly auxiliary limiting device for a vehicle door according to claim 1, characterized in that, An auxiliary assembly component is further arranged on the fixed plate (205). The auxiliary assembly component includes a third electric telescopic rod (316) fixedly installed on the fixed plate (205). A first rotating frame (301) is fixedly arranged at the telescopic end of the third electric telescopic rod (316). A first electric telescopic rod (302) and a second electric telescopic rod (303) are rotatably connected inside the first rotating frame (301). A second rotating frame (304) is rotatably connected between the telescopic ends of the first electric telescopic rod (302) and the second electric telescopic rod (303). A mounting seat (305) is fixedly connected to the side of the second rotating frame (304) away from the first electric telescopic rod (302) and the second electric telescopic rod (303). A bit (306) is arranged on the mounting seat (305). A driven gear (307) is rotatably connected to the mounting seat (305). The bit (306) is slidably connected inside the driven gear (307). A first motor (309) is fixedly arranged on the mounting seat (305). The output end of the first motor (309) passes through the mounting seat (305) and is rotatably connected with the mounting seat (305). A driving gear (308) is fixedly arranged at the output end of the first motor (309). The driving gear (308) meshes with the driven gear (307). An industrial camera (310) is fixedly installed on the top of the mounting seat (305). An electromagnet (311) is fixedly installed at a position corresponding to the driven gear (307) on the mounting seat (305).

5. The high-flexibility assembly auxiliary limit device for a vehicle door according to claim 4, characterized in that, An activity groove (313) is formed in the mounting seat (305). The activity groove (313) is located between the driven gear (307) and the electromagnet (311). A moving iron core (314) is fixedly connected to the side of the bit (306) close to the electromagnet (311). A first spring (315) is arranged between the moving iron core (314) and the activity groove (313).

6. The high-flexibility assembly auxiliary limit device for a vehicle door according to claim 5, wherein, A second motor (312) is fixedly installed on the top of the first rotating frame (301). The output end of the second motor (312) passes through the first rotating frame (301) and is fixedly connected with the first electric telescopic rod (302).

7. The high-flexibility assembly auxiliary limit device for a vehicle door according to claim 1, wherein, A triangular groove is formed in the top of the placing seat (215).

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