High-flexibility positioning and assembling device for vehicle door

Abstract

The invention discloses a vehicle door high-flexibility positioning assembly device, and relates to the technical field of vehicle assembly, the vehicle door high-flexibility positioning assembly device comprises a conveying plate, the conveying plate is mounted on a suspension conveyor of a vehicle door assembly line, the bottom of the conveying plate is fixedly connected with an assembly frame, and the two sides of the assembly frame are each rotationally connected with two rotating frames; the bottom of each rotating frame is connected with two supporting plates, each rotating frame is connected with a hinge piece, the two sides of the assembling frame are fixedly connected with movable frames, the bottoms of the movable frames are rotationally connected with rolling wheels, and the rotating frames are fixedly connected with mechanical arms. By arranging the mechanical arm, the rotating shaft, the tool and other structures, a nut or a screw of a vehicle door part can be tightened, the step of manually tightening the bolt or the nut is omitted, a worker is prevented from using an electric hand drill for assembly for a long time, and fatigue damage to the worker caused by vehicle door assembly work is reduced.

Description

Technical Field

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

[0002] In the field of automobile manufacturing, the assembly of door components is one of the key links in the whole vehicle production process. Door assembly mainly relies on manual operation. The existing door assembly is performed manually using a hand drill. In the high-speed beat assembly of a highly flexible conveying system, manual work is required for a long time to assemble door components. The repetitive action of holding the hand drill with one hand and applying axial pressure can easily cause fatigue damage to workers. The electric drill will vibrate when tightening the door components. Long-term assembly work using a hand drill will cause nerve damage to the worker's hand, resulting in a decrease in the worker's grip strength, and will also affect the stability of the door assembly. Therefore, a highly flexible door positioning assembly device is proposed. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a high-flexibility positioning and assembly device for a vehicle door.

[0004] The technical solution is as follows: A highly flexible positioning and assembly device for a vehicle door comprises a conveying plate installed on an external hanging conveyor, an assembly frame is fixedly connected to the bottom of the conveying plate, four rotating frames are rotatably connected to the assembly frame, each rotating frame is provided with a supporting plate and a hinge, a movable frame is fixedly connected to the assembly frame, the supporting plate and the hinge are detachably connected to the rotating frame by bolts, a mechanical arm is fixedly connected to the rotating frame, a visual sensor and a driving component are provided on the mechanical arm, the driving component comprises a rotating shaft connected to the output end of a motor on the mechanical arm, a movable block is slidably arranged in the rotating shaft, the movable block is provided with a mounting groove for placing a rotating rod, three limiting strips are symmetrically fixedly connected to the wall of the mounting groove, an electromagnet is fixedly connected to the movable block, a limiting groove is arranged on the outer surface of the rotating shaft, a limiting rod slidably matched with the limiting groove is fixedly connected to the electromagnet, a spring is connected between the electromagnet and the rotating shaft, a connecting block and a rotating plate are provided on the rotating rod, a tool for tightening bolts is inserted into the connecting block, and a switching component for switching the rotating rod is also provided on the mechanical arm.

[0005] Furthermore, the switching assembly includes a connecting plate fixedly connected to the mechanical arm by bolts, a side of the connecting plate away from the mechanical arm is fixedly connected to electromagnet 2, a sliding rod is fixedly connected to electromagnet 2, a magnetic ring is slidably connected to the sliding rod, a gear 2 is rotatably connected to the magnetic ring, a connecting frame is fixedly connected to a side of gear 2 away from the connecting plate by bolts, a fixed disk is fixedly connected to the side of the connecting frame away from gear 2, a plurality of extension plates are symmetrically fixedly connected to the fixed disk, an arc sleeve is fixedly connected to one end of each extension plate away from the fixed disk, a rotating rod is rotatably arranged in each arc sleeve via a rotating plate, the rotating plate is fixedly connected to the rotating rod, the rotating plate is rotatably connected to the arc sleeve, a gear 1 is fixedly connected to the outer surface of the rotating shaft, and gear 1 is arranged corresponding to gear 2.

[0006] Furthermore, a pushing rod is fixedly connected to the inside of the installation groove, a through groove is provided inside the rotating rod, and two limiting grooves are provided on the outer surface of the rotating rod. Two limiting rods that slide with the two limiting grooves are fixedly connected to the connecting block, and two springs are provided between the connecting block and the rotating rod. A resistance rod is fixedly connected to the side of the connecting block close to the installation groove, and the resistance rod slides in the through groove. The through groove is arranged corresponding to the position of the pushing rod.

[0007] Furthermore, after the electromagnet 2 is energized, the magnetic poles of the electromagnet 2 and the magnetic ring on the side close to each other are the same.

[0008] Furthermore, the cross-sectional shape of the rotating rod is a regular hexagon, one end of the rotating rod close to the mounting groove is provided with a chamfer, the cross-sectional shape of the limiting strip is a triangle, and one side of the limiting strip close to the rotating rod is provided with an inclined surface.

[0009] Furthermore, a stabilizing component is provided on the assembly frame, which includes two stabilizing frames fixedly connected to the assembly frame. The shape of the stabilizing frames is set to be semicircular, and each stabilizing frame is provided with symmetrical arc grooves. Each rotating frame is fixedly connected to a stabilizing rod, and the stabilizing rod is slidably set in adjacent arc grooves.

[0010] Furthermore, the bottom of the movable frame is rotatably connected with a roller.

[0011] Furthermore, the mounting groove is plug-fitted with the rotating rod.

[0012] From the above, the beneficial effects of the present invention are as follows: The arc groove of the stabilizing frame allows the stabilizing rod to pull the rotating frame to prevent the rotating frame from loosening due to the heavy door during the rotation process. The rotating frame plays a role in stabilizing the door, preventing the door from falling and causing damage after the rotating frame loosens, and can also ensure the stability of the mechanical arm and the rotating frame when they rotate synchronously; By setting structures such as a mechanical arm, a rotating shaft and a tool, the nuts or screws of the door parts can be tightened, which reduces the steps of manually tightening the bolts or nuts, avoids workers from using hand drills for assembly for a long time, and reduces fatigue damage caused by door assembly work to workers; By setting a switching component, when different nuts or screws need to be assembled, the corresponding tools can be switched to facilitate the assembly and tightening of different door parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 It is a three-dimensional schematic diagram of the conveying plate, assembly frame, rotating frame and other components of the present invention; Figure 3 It is a three-dimensional schematic diagram of the rotating frame, movable frame, roller and other components of the present invention; Figure 4 It is a three-dimensional schematic diagram of the robot arm, visual sensor, fixed plate and other components of the present invention; Figure 5 It is a cross-sectional perspective schematic diagram of the mechanical arm, slide rod and other components of the present invention; Figure 6 For the present invention Figure 5 A schematic diagram of the structure enlargement in the middle; Figure 7 It is a three-dimensional schematic diagram of the installation slot, limit strip, electromagnet and other components of the present invention; Figure 8 For the present invention Figure 7 A magnified schematic diagram of the structure at B in the middle; Fig. 9 For the present invention Figure 5 A magnified schematic diagram of the structure at C in the middle; Fig.10 It is a three-dimensional schematic diagram of the sliding rod, magnetic ring, electromagnet and other components of the present invention; Fig.11 It is a three-dimensional schematic diagram of the connecting frame, magnetic ring, gear and other components of the present invention; Fig.12 For the present invention Fig.11 Enlarged schematic diagram of the structure at point D in the middle.

[0014] Among them, the accompanying drawings in the present invention are: 1, conveyor plate; 11, assembly frame; 12, rotating frame; 13, support plate; 14, hinge; 15, movable frame; 16, roller; 2, mechanical arm; 3, visual sensor; 41, movable block; 42, mounting slot; 43, pushing rod; 44, limiting strip; 45, electromagnet 1; 46, rotating shaft; 47, limiting slot 1; 48, limiting rod 1; 49, gear 1; 410, spring 1; 51, connecting plate; 52, electromagnet 2; 53, sliding rod; 54, magnetic ring; 55, gear 2; 56, connecting frame; 57, fixed plate; 58, extension plate; 59, arc sleeve; 510, abutment rod; 511, rotating plate; 512, rotating rod; 513, spring 2; 514, connecting block; 515, limiting groove 2; 516, limiting rod 2; 517, tool; 518, through groove; 61, stabilizer bar; 62, stabilizer frame. DETAILED DESCRIPTION

[0015] 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, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0016] The embodiments provided by the present invention will be described in detail below: like Figures 1 to 4 As shown, a highly flexible positioning and assembly device for a vehicle door comprises a conveying plate 1, which is installed on a hanging conveyor of an external automobile door assembly line. The hanging conveyor is a prior art and can drive the conveying plate 1 to move. The bottom of the conveying plate 1 is fixedly connected to an assembly frame 11 by bolts, and four rotating frames 12 are rotatably connected to the assembly frame 11. The bottom of each rotating frame 12 is detachably connected to two supporting plates 13 by bolts, and each rotating frame 12 is detachably connected to a hinge 14 by bolts on one side close to the hinge with the assembly frame 11. If it is necessary to fix different vehicle doors, the supporting plate 13 and the hinge 14 can be replaced by removing the bolts. Both sides of the assembly frame 11 are fixedly connected to a movable frame 15 by bolts, and the bottom of the movable frame 15 is rotatably connected to a roller 16. A mechanical arm 2 is fixedly connected to the rotating frame 12, and a visual sensor 3 is fixedly connected to the outer surface of the mechanical arm 2. The visual sensor 3 is electrically connected to the mechanical arm 2 through a built-in controller.

[0017] It should be noted that: the door to be assembled on the car is placed on the support plate 13, the hinge 14 is connected to the door hinge of the car door, and the visual sensor 3 is used to identify the position of the installation hole of the car door, as well as the position of the screws and nuts on the parts placed by the worker; like Figures 4 to 8 as well as Figures 10 to 12As shown, the robot arm 2 is provided with a driving assembly, the driving assembly includes a rotating shaft 46 provided on the robot arm 2, the robot arm 2 is provided with a motor, the output end of the motor is fixedly connected to the rotating shaft 46, a movable block 41 is slidably provided inside the rotating shaft 46, an end of the movable block 41 away from the robot arm 2 is provided with a mounting groove 42 for placing a rotating rod 512, a pushing rod 43 is fixedly connected inside the mounting groove 42, three limit bars 44 are symmetrically fixedly connected to the groove wall of the mounting groove 42, and the movable block 41 is away from the robot arm 2. One end of the mechanical arm 2 is fixedly connected to an electromagnet 45, and a side of the electromagnet 45 close to the mechanical arm 2 is fixedly connected to two limit rods 48 symmetrical about the movable block 41. The outer surface of the rotating shaft 46 is provided with two limit grooves 47, and the limit rod 48 is set to be L-shaped. The end of the limit rod 48 away from the electromagnet 45 slides inside the adjacent limit groove 47. A spring 410 is connected between the electromagnet 45 and the rotating shaft 46. A connecting block 514 and a rotating plate 51 are provided on the rotating rod 512. 1. The rotating plate 511 is fixedly connected to the rotating rod 512. The rotating plate 511 is made of iron. The rotating plate 511 can be magnetically matched with the electromagnet 45. The rotating rod 512 is plugged into the mounting groove 42. A through groove 518 is provided inside the rotating rod 512. A second limiting groove 515 is provided on the outer surface of the rotating rod 512. A second limiting rod 516 that is slidably matched with the second limiting groove 515 is fixedly connected to the connecting block 514. A second spring 513 is provided between the connecting block 514 and the rotating rod 512. The connecting block 51 A resisting rod 510 is fixedly connected to the side close to the installation groove 42, and the resisting rod 510 slides in the through groove 518, and the through groove 518 is arranged corresponding to the position of the pushing rod 43. A tool 517 for tightening bolts or nuts is inserted on the side of the connecting block 514 away from the installation groove 42. A switching assembly for switching the rotating rod 512 is also arranged on the robot arm 2. The tools 517 inserted on different rotating rods 512 correspond to bolts or nuts of different models and sizes, so that different tools 517 can be switched for assembly.

[0018] like Figures 4 to 6 as well as Figures 9 to 12As shown, the switching assembly includes a connecting plate 51 fixedly connected to the mechanical arm 2 by bolts, and a second electromagnet 52 is fixedly connected to the side of the connecting plate 51 away from the mechanical arm 2, and a sliding rod 53 is fixedly connected to the second electromagnet 52, and a magnetic ring 54 is slidably connected to the sliding rod 53. The magnetic ring 54 can only slide along the axial direction of the sliding rod 53 on the sliding rod 53, and a second gear 55 is rotatably connected to the magnetic ring 54. An elastic bushing is provided between the magnetic ring 54 and the second gear 55, and a connecting frame 56 is fixedly connected to the side of the second gear 55 away from the connecting plate 51 by bolts, and the connecting frame 56 is away from the gear A fixed disk 57 is fixedly connected to one side of the second gear 55, and a plurality of circumferentially equidistantly distributed extension plates 58 are symmetrically fixedly connected to the fixed disk 57. An arc sleeve 59 is fixedly connected to one end of each extension plate 58 away from the fixed disk 57. A rotating rod 512 is rotatably arranged in each arc sleeve 59 through a rotating plate 511. The rotating plate 511 is rotatably connected to the arc sleeve 59. A gear 1 49 is fixedly connected to the outer surface of the rotating shaft 46. The gear 1 49 is arranged corresponding to the gear 2 55. The gear 2 55 can mesh with the gear 1 49 after moving along the axial direction of the sliding rod 53.

[0019] The cam 42 is provided with a plurality of cams 44a and 45b, respectively, which are used to cam the rotating shaft 512 and the rotating shaft 512 together.

[0020] like Figure 1 and Figure 3 As shown, a stabilizing component is provided on the assembly frame 11, and the stabilizing component includes two stabilizing frames 62 fixedly connected to the assembly frame 11, the stabilizing frames 62 are semicircular in shape, and each stabilizing frame 62 is provided with an arc groove symmetrical to the assembly frame 11, and each rotating frame 12 is fixedly connected to a stabilizing rod 61, and the top of the stabilizing rod 61 slides in the arc groove of the adjacent stabilizing frame 62.

[0021] In combination with the above preferred embodiments, the following is the entire working process and working principle of the above embodiments: The initial state is: Electromagnet 1 45 is not energized, electromagnet 1 45 does not magnetically attract rotating plate 511, spring 1 410 is not stretched by electromagnet 1 45, electromagnet 2 52 is not energized, magnetic ring 54 is magnetically attracted to electromagnet 2 52, magnetic ring 54 causes gear 2 55 and gear 1 49 to engage with each other, pushing rod 43 does not conflict with resistance rod 510, and resistance rod 510 does not cause connecting block 514 to stretch spring 2 513.

[0022] The working status is: The car door frame to be assembled is placed on the support plate 13. In addition, the door hinge and the hinge 14 of the car door are connected by bolts, so that the car door can be stably placed on the rotating frame 12. Under the driving action of the hanging conveyor on the external assembly line, the conveying plate 1 drives the assembly frame 11 to move on the assembly line, and the assembly frame 11 drives the movable frame 15 to move synchronously. The movable frame 15 drives the roller 16 to roll on the ground. The parts to be assembled on the car door can be placed on the movable frame 15, so that the parts can move synchronously with the car door to be assembled, which is convenient for timely finding the parts when assembling the car door, thereby improving the assembly efficiency of the car door. In addition, the assembly frame 11 drives the car door to be assembled to move on the automobile assembly line through the rotating frame 12.

[0023] To adjust the door angle: During the assembly of the car door, the worker can pull the rotating frame 12 so that the rotating frame 12 can drive the car door to rotate with the hinge between the rotating frame 12 and the assembly frame 11 as the axis. Since the car door not only needs to be equipped with interior panels, but also with outer door handles and rearview mirrors, it is necessary to drive the car door to rotate through the rotating frame 12. At this time, the worker can assemble components on both sides of the car door. In addition, during the rotation of the rotating frame 12, the rotating frame 12 will drive the stabilizing bar 61 to rotate synchronously. At this time, the stabilizing bar 61 slides in the arc groove of the stabilizing frame 62. The arc groove of the stabilizing frame 62 allows the stabilizing bar 61 to pull the rotating frame 12 to prevent the rotating frame 12 from loosening due to the excessive weight of the car door during the rotation process. The rotating frame 12 plays a role in stabilizing the support of the car door, preventing the car door from falling and causing damage due to the loosening of the rotating frame 12, and can also ensure the stability of the mechanical arm 2 and the rotating frame 12 when they rotate synchronously.

[0024] In addition, after installing the vehicle door on the rotating frame 12, the worker can place the vehicle door component to be assembled on the vehicle door to be installed position, and finally preliminarily place the nut or screw that can fix the vehicle door component at the installation position of the vehicle door component. The placed nut or screw can be manually twisted by the worker during the placement process, so that the nut and the screw can be preliminarily connected with the connecting piece thread at the installation position to prevent the nut or screw from falling off, which is convenient for the subsequent automatic tightening step.

[0025] Robot arm 2 assembles the door components through the driving components and the switching components: After the robot arm 2 is started, the position of the vehicle door is identified under the recognition action of the visual sensor 3. The visual sensor 3 controls the end of the robot arm 2 away from the rotating frame 12 to move to the installation position of the vehicle door component through the built-in controller, so that the end of the robot arm 2 away from the rotating frame 12 gradually approaches the position of the nut or screw, such as the position of the nut or screw of the interior panel. At the same time, the built-in controller controls the electromagnet 1 45 and the electromagnet 2 52 to be energized. After the electromagnet 2 52 is energized, it repels the magnetic ring 54, so that the magnetic ring 54 moves to the side away from the connecting plate 51. The magnetic ring 54 drives the gear 2 55 to move synchronously to the side away from the connecting plate 51. After the gear 2 55 moves, it no longer meshes with the gear 1 49, and the magnetic ring 54 and the gear 2 55 are not meshed with each other. An elastic bushing is arranged between them. When gear 2 55 is separated from gear 1 49, under the action of friction, gear 2 55 will not rotate relative to magnetic ring 54, and gear 2 55 will not rotate due to the different weights of each tool 517, thereby improving the accuracy of subsequent replacement of tool 517. In addition, because rotating plate 511 is made of iron, electromagnet 1 45 will magnetically attract rotating plate 511 after being energized, and electromagnet 1 45 will move to the side close to rotating plate 511 and stretch spring 1 410. During the movement of electromagnet 1 45, movable block 41 and limiting rod 1 48 will be driven to move synchronously, wherein limiting rod 1 48 will slide inside limiting groove 1 47, and movable block 41 will be sleeved on rotating rod 512 through mounting groove 42 during the movement. When the rotating rod 512 enters the installation groove 42, the three symmetrically arranged limit bars 44 will push the inclined surface of the rotating rod 512, causing the rotating rod 512 to rotate until the middle position of one side of the rotating rod 512 contacts the top position of the limit bar 44 close to the pushing rod 43. At this time, the force direction of the limit bar 44 on the rotating rod 512 points to the axis of the installation groove 42, that is, the limit bar 44 will no longer push the rotating rod 512 to rotate, and the rotating rod 512 can enter the installation groove 42 along the axis direction of the installation groove 42. When the rotating rod 512 enters the installation groove 42, the three limit bars 44 respectively contact the middle positions of the three sides of the rotating rod 512. Because the cross-sectional shape of the rotating rod 512 is a regular hexagon, it can be stopped by the limit bars 44 makes the rotating rod 512 inserted in the installation groove 42 unable to rotate. In addition, the movable block 41 will make the pushing rod 43 inserted into the through groove 518 during the movement. After the pushing rod 43 moves into the through groove 518, it will push the resistance rod 510, and the resistance rod 510 will drive the connecting block 514 to move to the side away from the rotating plate 511. The connecting block 514 will stretch the spring 2 513 during the movement. The connecting block 514 will also drive the limiting rod 2 516 to slide synchronously in the limiting groove 2 515 during the movement. The connecting block 514 can be stabilized by the limiting rod 2 516 sliding inside the limiting groove 2 515. When the connecting block 514 moves, it will synchronously drive the tool 517 to move to the side away from the rotating plate 511.A tool 517 corresponding to the position of the electromagnet 45 is moved to a side away from the fixing plate 57 by a set distance, ensuring that the tool 517 corresponding to the position of the electromagnet 45 can effectively tighten the nut or screw of the door component.

[0026] At this time, the robot arm 2 is controlled again through the built-in controller, so that the robot arm 2 drives the tool 517 to position and conflict with the bolt or nut, and then the motor on the robot arm 2 is controlled by the built-in controller to drive the rotating shaft 46 to rotate. The rotating shaft 46 drives the rotating rod 512 to rotate synchronously through the limit strip 44 in the installation groove 42, and the rotating rod 512 drives the rotating plate 511 to rotate in the arc sleeve 59. The rotating rod 512 drives the connecting block 514 to rotate through the limit groove 2 515 and the limit rod 2 516. The connecting block 514 drives the tool 517 to rotate. The tool 517 can tighten the nuts or screws of the door components, reducing the steps required to manually tighten the bolts or nuts, avoiding workers from using hand drills for assembly for a long time, and reducing fatigue damage to workers caused by door assembly work.

[0027] It should be noted that the visual sensor 3 and the robotic arm 2 are existing technologies. Through the visual sensor 3, the built-in controller controls the robotic arm 2 to autonomously identify the installation position of the door components and locate the installation position of the door components, so that the door assembly can efficiently adapt to the production mode of different vehicle models, configurations or customized requirements.

[0028] Replacement tool 517: When targeting different nuts or screws, the built-in controller controls the electromagnet 2 52 and the electromagnet 1 45 to be powered off, wherein the electromagnet 1 45 no longer magnetically attracts the rotating plate 511 after being powered off, and the electromagnet 1 45 moves to the side close to the rotating shaft 46 under the elastic reset action of the spring 1 410, so that the movable block 41 is no longer sleeved on the rotating rod 512, and at the same time, the electromagnet 2 52 has no magnetism after being powered off, and the magnetic ring 54 will magnetically attract the electromagnet 2 52, and the magnetic ring 54 will be on the sliding rod 53. When the gear 2 55 moves toward the side close to the electromagnet 2 52, the magnetic ring 54 will drive the gear 2 55 to move toward the side close to the connecting plate 51 synchronously. If the teeth of the gear 2 55 and the gear 1 49 are not completely aligned at this time, the side of the gear 2 55 close to the electromagnet 2 52 will fit with the side of the gear 1 49 away from the robot arm 2. Under the action of the magnetic ring 54 magnetically attracting the electromagnet 2 52, the gear 2 55 always keeps in contact with the gear 1 49, and the gear 2 55 has a tendency to move toward the side close to the gear 1 49. When the gear 1 49 is rotated slowly so that its tooth position is aligned with the gear 2 55, the gear 2 55 can continue to move to the side close to the electromagnet 2 52 until the gear 1 49 is meshed with the gear 2 55 again. At this time, the motor on the mechanical arm 2 is started again to drive the rotating shaft 46 to rotate. When the rotating shaft 46 rotates, it will drive the gear 2 55 to rotate on the magnetic ring 54 through the gear 1 49, and the gear 2 55 drives the connecting frame 56 to rotate synchronously. When the connecting frame 56 rotates, it drives the multiple extension plates 58 to rotate through the fixed plate 57. When the required tool 517 is rotated to correspond to the position of the electromagnet 1 45, the electromagnet 1 45 and the electromagnet 2 52 are energized again, and the above steps can be repeated, and then the connection between the rotating rod 512 and the mounting groove 42 is completed again, ensuring that the rotating shaft 46 can drive the replaced tool 517 to rotate through the mounting groove 42 and the rotating rod 512, so that the worker can replace the tool 517 in time when assembling different door components, and can assemble and tighten different door components.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A highly flexible positioning and assembly device for a vehicle door, comprising a conveying plate (1) mounted on an external hanging conveyor, wherein an assembly frame (11) is fixedly connected to the bottom of the conveying plate (1), four rotating frames (12) are rotatably connected to the assembly frame (11), each rotating frame (12) is provided with a supporting plate (13) and a hinge (14), and a movable frame (15) is fixedly connected to the assembly frame (11), characterized in that: The support plate (13) and the hinge (14) are both detachably connected to the rotating frame (12) by bolts. The rotating frame (12) is fixedly connected to a mechanical arm (2). The mechanical arm (2) is provided with a visual sensor (3) and a driving assembly. The driving assembly includes a rotating shaft (46) connected to the output end of a motor on the mechanical arm (2). A movable block (41) is slidably arranged in the rotating shaft (46). The movable block (41) is provided with a mounting groove (42) for accommodating a rotating rod (512). Three limit bars (44) are symmetrically fixedly connected to the groove wall of the mounting groove (42). The movable block (41) is provided with a mounting groove (42) for accommodating a rotating rod (512). (41) is fixedly connected to an electromagnet (45), a limiting groove (47) is provided on the outer surface of the rotating shaft (46), a limiting rod (48) is fixedly connected to the electromagnet (45) and is slidably matched with the limiting groove (47), a spring (410) is connected between the electromagnet (45) and the rotating shaft (46), a connecting block (514) and a rotating plate (511) are provided on the rotating rod (512), a tool (517) for tightening a bolt is plugged into the connecting block (514), and a switching component for switching the rotating rod (512) is also provided on the mechanical arm (2).

2. A high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that: The switching assembly comprises a connecting plate (51) fixedly connected to the mechanical arm (2) by bolts, a side of the connecting plate (51) away from the mechanical arm (2) is fixedly connected to a second electromagnet (52), a sliding rod (53) is fixedly connected to the second electromagnet (52), a magnetic ring (54) is slidably connected to the sliding rod (53), a second gear (55) is rotatably connected to the magnetic ring (54), a side of the second gear (55) away from the connecting plate (51) is fixedly connected to a connecting frame (56) by bolts, and a side of the connecting frame (56) away from the second gear (55) is fixedly connected to a fixed plate ( 57), a plurality of extension plates (58) are symmetrically fixedly connected to the fixed plate (57), an end of each extension plate (58) away from the fixed plate (57) is fixedly connected to an arc sleeve (59), a rotating rod (512) is rotatably arranged in each arc sleeve (59) via a rotating plate (511), the rotating plate (511) is fixedly connected to the rotating rod (512), the rotating plate (511) is rotatably connected to the arc sleeve (59), and a gear 1 (49) is fixedly connected to the outer surface of the rotating shaft (46), and the gear 1 (49) is arranged corresponding to the gear 2 (55).

3. A high-flexibility positioning and assembly device for a vehicle door according to claim 2, characterized in that: A pushing rod (43) is fixedly connected inside the installation groove (42), a through groove (518) is provided inside the rotating rod (512), a second limiting groove (515) is provided on the outer surface of the rotating rod (512), a second limiting rod (516) slidably matched with the second limiting groove (515) is fixedly connected to the connecting block (514), a second spring (513) is provided between the connecting block (514) and the rotating rod (512), a resisting rod (510) is fixedly connected to a side of the connecting block (514) close to the installation groove (42), the resisting rod (510) slides in the through groove (518), and the through groove (518) is provided corresponding to the position of the pushing rod (43).

4. A highly flexible positioning and assembly device for a vehicle door according to claim 2, characterized in that: When the second electromagnet (52) is energized, the magnetic poles of the second electromagnet (52) and the magnetic ring (54) on the side close to each other are the same.

5. The high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that: The cross-sectional shape of the rotating rod (512) is a regular hexagon, one end of the rotating rod (512) close to the mounting groove (42) is provided with a chamfer, the cross-sectional shape of the limiting strip (44) is a triangle, and one surface of the limiting strip (44) close to the rotating rod (512) is provided as an inclined surface.

6. The high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that: The assembly frame (11) is also provided with a stabilizing assembly, which includes two stabilizing frames (62) fixedly connected to the assembly frame (11), the stabilizing frames (62) are arranged in a semicircular shape, each stabilizing frame (62) is provided with symmetrical arc grooves, and each rotating frame (12) is fixedly connected with a stabilizing rod (61), which is slidably arranged in adjacent arc grooves.

7. The high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that: The bottom of the movable frame (15) is rotatably connected to a roller (16).

8. The high-flexibility positioning and assembly device for a vehicle door according to claim 1, characterized in that: The mounting groove (42) is plug-fitted into the rotating rod (512).

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