A high-flexibility positioning and assembly device for vehicle doors

Abstract

The present invention discloses a high-flexibility positioning and assembling device for vehicle doors, which relates to the technical field of vehicle assembly. It includes a conveying plate installed on the suspension conveyor of the vehicle door assembly production line. The bottom of the conveying plate is fixedly connected with an assembling frame. Two rotating frames are rotatably connected to both sides of the assembling frame. Two supporting plates are connected to the bottom of each rotating frame. An articulated member is connected to each rotating frame. Movable frames are fixedly connected to both sides of the assembling frame. Rollers are rotatably connected to the bottoms of the movable frames. A robotic arm is fixedly connected to the rotating frame. By setting structures such as the robotic arm, rotating shaft, and tools, the nuts or screws of the vehicle door components can be tightened, reducing the steps of manually tightening bolts or nuts, avoiding workers using electric drills for assembly for a long time, and reducing the fatigue damage caused to workers by the vehicle door assembly work.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile assembly, and more specifically, to a high-flexibility positioning and assembly device for vehicle doors. 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. The assembly of vehicle doors mainly relies on manual operation. The existing assembly of door components is installed manually using a hand-held electric drill. In the high-speed rhythm assembly of a high-flexibility conveying system, it is necessary for workers to carry out the assembly work of door components for a long time. The repetitive action of single-handedly holding the electric drill and applying axial pressure is likely to cause fatigue damage to workers. Moreover, the electric drill will vibrate when tightening the door components. The long-term use of the electric drill for assembly work will cause nerve damage to the worker's hands, resulting in a decrease in the worker's gripping force and also affecting the stability of door assembly. Therefore, a high-flexibility positioning and assembly device for vehicle doors is proposed. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a high-flexibility positioning and assembly device for vehicle doors.

[0004] The technical solution is as follows:

[0005] A high-flexibility positioning and assembly device for vehicle doors includes a conveying plate installed on an external suspension conveyor. A mounting frame is fixedly connected to the bottom of the conveying plate. Four rotating frames are rotatably connected to the mounting frame. A support plate and a hinge member are provided on each rotating frame. A movable frame is fixedly connected to the mounting frame. The support plate and the hinge member are detachably connected to the rotating frame by bolts. A robotic arm is fixedly connected to the rotating frame. A vision sensor and a driving component are provided on the robotic arm. The driving component includes a rotating shaft connected to the output end of a motor on the robotic 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 inner wall of the mounting groove. The movable block is fixedly connected to an electromagnet I. A limiting groove I is formed on the outer surface of the rotating shaft. A limiting rod I slidably engaged with the limiting groove I is fixedly connected to the electromagnet I. A spring I is connected between the electromagnet I 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. A switching component for switching the rotating rod is also provided on the robotic arm.

[0006] Further, the switching component includes a connecting plate fixedly connected to the robotic arm by bolts. On the side of the connecting plate away from the robotic arm, an electromagnet II is fixedly connected. An ejector rod is fixedly connected to the electromagnet II. A sliding rod is fixedly connected to the electromagnet II. A magnetic ring is slidably connected to the sliding rod. A gear II is rotatably connected to the magnetic ring. On the side of the gear II away from the connecting plate, a connecting frame is fixedly connected by bolts. On the side of the connecting frame away from the gear II, a fixed disk is fixedly connected. A plurality of extension plates are symmetrically and fixedly connected to the fixed disk. At one end of each extension plate away from the fixed disk, an arc sleeve is fixedly connected. Inside each arc sleeve, a rotating rod is rotatably arranged through a rotating plate. The rotating plate is fixedly connected to the rotating rod and rotatably connected to the arc sleeve. A gear I is fixedly connected to the outer surface of the rotating shaft. The gear I is arranged corresponding to the gear II.

[0007] Further, a push rod is fixedly connected inside the installation groove. A through groove is opened inside the rotating rod. A second limiting groove is opened on the outer surface of the rotating rod. A second limiting rod slidably matched with the second limiting groove is fixedly connected to the connecting block. A second spring is arranged between the connecting block and the rotating rod. A resisting rod is fixedly connected to the side of the connecting block close to the installation groove. The resisting rod slides inside the through groove. The through groove is arranged corresponding to the position of the push rod.

[0008] Further, after the electromagnet II is powered on, the magnetic poles on the sides of the electromagnet II and the magnetic ring close to each other are the same.

[0009] Further, the cross-sectional shape of the rotating rod is a regular hexagon. A chamfer is arranged at one end of the rotating rod close to the installation groove. The cross-sectional shape of the limiting strip is a triangle. The surface of the limiting strip close to the rotating rod is an inclined surface.

[0010] Further, a stabilizing component is also arranged on the assembly frame. The stabilizing component includes two stabilizing frames fixedly connected to the assembly frame. The shape of the stabilizing frame is semi-circular. Symmetrical arc grooves are opened on each stabilizing frame. A stabilizing rod is fixedly connected to each rotating frame. The stabilizing rod is slidably arranged inside the adjacent arc groove.

[0011] Further, rollers are rotatably connected to the bottom of the movable frame.

[0012] Further, the installation groove is in plug-in fit with the rotating rod.

[0013] As described above, the beneficial effects of the present invention are as follows:

[0014] Through the arc groove of the stabilizing frame, the stabilizing rod pulls the rotating frame, avoiding the loosening of the rotating frame due to the excessive weight of the car door during rotation, playing a role in stably supporting the car door by the rotating frame, preventing damage caused by the falling of the car door after the rotating frame loosens, and also ensuring the stability when the robotic arm and the rotating frame rotate synchronously;

[0015] By setting up structures such as robotic arms, rotating shafts, and tools, it is possible to tighten nuts or screws on door components, reducing the steps of manual tightening of bolts or nuts, avoiding the long-term use of electric drills by workers for assembly, and reducing the fatigue damage caused to workers by door assembly work.

[0016] By setting up a switching component, when assembling different nuts or screws, it can be switched to the corresponding tool, facilitating the assembly and tightening of different door components. Brief Description of the Drawings

[0017] Figure 1 Schematic three-dimensional view of the overall structure of the present invention;

[0018] Figure 2 Schematic three-dimensional view of components such as the conveying plate, assembly rack, and rotating rack of the present invention;

[0019] Figure 3 Schematic three-dimensional view of components such as the rotating rack, movable rack, and rollers of the present invention;

[0020] Figure 4 Schematic three-dimensional view of components such as the robotic arm, vision sensor, and fixed disk of the present invention;

[0021] Figure 5 Schematic cross-sectional three-dimensional view of components such as the robotic arm and slide bar of the present invention;

[0022] Figure 6 For the present invention Figure 5 Enlarged schematic view of the structure at A in;

[0023] Figure 7 Schematic three-dimensional view of components such as the installation groove, limit strip, and electromagnet 1 of the present invention;

[0024] Figure 8 For the present invention Figure 7 Enlarged schematic view of the structure at B in;

[0025] Figure 9 For the present invention Figure 5 Enlarged schematic view of the structure at C in;

[0026] Figure 10 Schematic three-dimensional view of components such as the slide bar, magnetic ring, and electromagnet 2 of the present invention;

[0027] Figure 11 Schematic three-dimensional view of components such as the connecting rack, magnetic ring, and gear 2 of the present invention;

[0028] Figure 12 For the present invention Figure 11 Enlarged schematic view of the structure at D in.

[0029] Among them, the reference numerals in the present invention are:

[0030] 1. Conveyor plate; 11. Assembly frame; 12. Rotating frame; 13. Support plate; 14. Hinge; 15. Movable frame; 16. Roller; 2. Robotic arm; 3. Vision sensor;

[0031] 41. Movable block; 42. Installation groove; 43. Pushing rod; 44. Limit bar; 45. Electromagnet 1; 46. Rotating shaft; 47. First limit groove; 48. First limit rod; 49. First gear; 410. First spring;

[0032] 51. Connecting plate; 52. Electromagnet 2; 53. Slide bar; 54. Magnetic ring; 55. Second gear; 56. Connecting frame; 57. Fixed disk; 58. Extension plate; 59. Arc sleeve; 510. Contact rod; 511. Rotating plate; 512. Rotating rod; 513. Second spring; 514. Connecting block; 515. Second limit groove; 516. Second limit rod; 517. Tool; 518. Through groove;

[0033] 61. Stabilizing rod; 62. Stabilizing frame. Detailed implementation mode

[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 belong to the protection scope of the present invention.

[0035] The embodiments provided by the present invention will be elaborated in detail below:

[0036] As Figures 1 to 4 shown, a high-flexibility positioning and assembly device for vehicle doors includes a conveyor plate 1. The conveyor plate 1 is installed on the suspension conveyor of the external vehicle door assembly line. The suspension conveyor is a prior art and can drive the conveyor plate 1 to move. The bottom of the conveyor plate 1 is fixedly connected with an assembly frame 11 by bolts. Four rotating frames 12 are rotatably connected to the assembly frame 11. Two support plates 13 are detachably connected to the bottom of each rotating frame 12 by bolts. One side of each rotating frame 12 close to the hinge with the assembly frame 11 is detachably connected with a hinge 14 by bolts. If it is necessary to fix different vehicle doors, the support plates 13 and the hinges 14 can be replaced by removing the bolts. Both sides of the assembly frame 11 are fixedly connected with movable frames 15 by bolts. The bottom of the movable frame 15 is rotatably connected with rollers 16. A robotic arm 2 is fixedly connected to the rotating frame 12. A vision sensor 3 is fixedly connected to the outer surface of the robotic arm 2. The vision sensor 3 is electrically connected to the robotic arm 2 through a built-in controller.

[0037] It should be noted that: The car door to be assembled is placed on the pallet 13. The hinge 14 is connected to the door hinge of the car door. The vision sensor 3 is used to identify the positions of the mounting holes of the car door and the screws and nuts on the parts placed by the worker.

[0038] As Figures 4 to 8 and Figures 10 to 12 shown, a driving assembly is provided on the robotic arm 2. The driving assembly includes a rotating shaft 46 provided on the robotic arm 2. A motor is provided on the robotic arm 2, and the output end of the motor is fixedly connected to the rotating shaft 46. An active block 41 is slidably arranged inside the rotating shaft 46. An installation groove 42 for placing a rotating rod 512 is formed at one end of the active block 41 away from the robotic arm 2. A pushing rod 43 is fixedly connected inside the installation groove 42. Three limiting strips 44 are symmetrically and fixedly connected to the inner wall of the installation groove 42. An electromagnet 45 is fixedly connected to one end of the active block 41 away from the robotic arm 2. Two limiting rods 48 symmetrical about the active block 41 are fixedly connected to one side of the electromagnet 45 close to the robotic arm 2. Two limiting grooves 47 are formed on the outer surface of the rotating shaft 46. The limiting rod 48 is L-shaped, and the end of the limiting rod 48 away from the electromagnet 45 slides inside the adjacent 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. The rotating plate 511 is fixedly connected to the rotating rod 512. The rotating plate 511 is made of iron and can be magnetically attracted and matched with the electromagnet 45. The rotating rod 512 is inserted and matched with the installation groove 42. A through groove 518 is formed inside the rotating rod 512. A limiting groove 515 is formed on the outer surface of the rotating rod 512. A limiting rod 516 that slides and matches with the limiting groove 515 is fixedly connected to the connecting block 514. A spring 513 is provided between the connecting block 514 and the rotating rod 512. A resisting rod 510 is fixedly connected to one side of the connecting block 514 close to the installation groove 42. The resisting rod 510 slides inside the through groove 518. 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 into one side of the connecting block 514 away from the installation groove 42. A switching assembly for switching the rotating rod 512 is also provided on the robotic arm 2. The tools 517 inserted on different rotating rods 512 correspond to bolts or nuts of different models and sizes, so as to switch different tools 517 for assembly.

[0039] As Figures 4 to 6 and Figures 9 to 12As shown in the figure, the switching component includes a connecting plate 51 fixedly connected to the robotic arm 2 by bolts. On the side of the connecting plate 51 away from the robotic arm 2, an electromagnet two 52 is fixedly connected. An ejector rod 53 is fixedly connected to the electromagnet two 52. A magnetic ring 54 is slidably connected to the ejector rod 53. The magnetic ring 54 can only slide along the axis direction of the ejector rod 53 on the ejector rod 53. A gear two 55 is rotatably connected to the magnetic ring 54. An elastic bushing is arranged between the magnetic ring 54 and the gear two 55. On the side of the gear two 55 away from the connecting plate 51, a connecting frame 56 is fixedly connected by bolts. On the side of the connecting frame 56 away from the gear two 55, a fixed disk 57 is fixedly connected. A plurality of circumferentially equally spaced extension plates 58 are symmetrically fixedly connected to the fixed disk 57. One end of each extension plate 58 away from the fixed disk 57 is fixedly connected with an arc sleeve 59. A rotating rod 512 is rotatably arranged in each arc sleeve 59 through a rotating plate 511. The rotating plate 511 is rotatably connected with the arc sleeve 59. A gear one 49 is fixedly connected to the outer surface of the rotating shaft 46. The gear one 49 is arranged corresponding to the gear two 55. After the gear two 55 moves along the axis direction of the ejector rod 53, it can be meshed with the gear one 49.

[0040] It should be noted that: the cross-sectional shape of the rotating rod 512 is a regular hexagon, and a chamfer (i.e., six inclined surfaces) is arranged at one end of the rotating rod 512 close to the installation groove 42. The cross-sectional shape of the limiting strip 44 is a triangle, and the surface close to the rotating rod 512 of the limiting strip 44 is an inclined surface. During the process of the rotating rod 512 entering the inside of the installation groove 42, after the inclined surface of the rotating rod 512 abuts and presses against the inclined surface of the limiting strip 44, the limiting strip 44 will cause the rotating rod 512 to rotate, which is convenient for adjusting the rotating rod 512 at different angles, so that the rotating rod 512 can be restricted by the limiting strip 44, ensuring that the rotating rod 512 is driven to rotate synchronously by the limiting strip 44 during the rotation of the rotating shaft 46. The tool 517 can be an external hexagon wrench, a cross screwdriver, a flat screwdriver, an internal hexagon wrench, a socket head cap screw wrench, etc. And because the tool 517 is inserted and connected with the connecting block 514, it can be replaced according to nuts and screws of different sizes.

[0041] As Figure 1 and Figure 3 As shown in the figure, a stabilizing component is arranged on the assembling frame 11. The stabilizing component includes two stabilizing frames 62 fixedly connected to the assembling frame 11. The shape of the stabilizing frame 62 is semi-circular, and an arc groove symmetric about the assembling frame 11 is opened on each stabilizing frame 62. A stabilizing rod 61 is fixedly connected to each rotating frame 12. The top of the stabilizing rod 61 slides in the arc groove of the adjacent stabilizing frame 62.

[0042] Combined with the above preferred embodiments, the following is the whole working process and working principle of the above embodiments:

[0043] The initial state is:

[0044] Electromagnet 1 45 is not powered on, and electromagnet 1 45 does not magnetically attract the rotating plate 511. Spring 1 410 is not stretched by electromagnet 1 45. Electromagnet 2 52 is not powered on. The magnetic ring 54 is magnetically attracted to electromagnet 2 52. The magnetic ring 54 causes gear 2 55 to mesh with gear 1 49. The push rod 43 does not contact the abutting rod 510, and the abutting rod 510 does not stretch spring 2 513.

[0045] The working state is:

[0046] Place the car door frame to be assembled on the pallet 13. In addition, connect the door hinge of the car door and the hinge part 14 with bolts so that the car door can be stably placed on the rotating frame 12. Under the driving action of the suspension conveyor on the external assembly line, the conveying plate 1 drives the assembly frame 11 to move on the assembly line. The assembly frame 11 drives the movable frame 15 to move synchronously. The movable frame 15 drives the rollers 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 finding the parts in time during the car door assembly, 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 car assembly line through the rotating frame 12.

[0047] Adjust the angle of the car door:

[0048] During the process of assembling the car door, the worker can pull the rotating frame 12 so that the rotating frame 12 can drive the car door to rotate around the hinge joint between the rotating frame 12 and the assembly frame 11. Since the car door needs to install the interior trim panel, the outer door handle and the rearview mirror, it is necessary to drive the car door to rotate through the rotating frame 12. At this time, the worker can assemble the parts 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 rod 61 to rotate synchronously. At this time, the stabilizing rod 61 slides in the arc groove of the stabilizing frame 62. Through the arc groove of the stabilizing frame 62, the stabilizing rod 61 pulls the rotating frame 12 to prevent the rotating frame 12 from loosening due to the heavy weight of the car door during rotation, playing a role in stably supporting the car door by the rotating frame 12, preventing the car door from falling and being damaged after the rotating frame 12 loosens, and also ensuring the stability when the robotic arm 2 rotates synchronously with the rotating frame 12.

[0049] In addition, after installing the car door on the rotating frame 12, the worker can place the car door parts to be assembled at the installation positions of the car door. Finally, initially place the nuts or screws that can fix the car door parts at the installation positions of the car door parts. The nuts or screws placed can be manually twisted by the worker during the insertion process so that the nuts and screws can be initially threadedly connected to the connecting parts at the installation positions to prevent the nuts or screws from falling, which is convenient for the subsequent automatic tightening step.

[0050] The robotic arm 2 assembles the car door components through the cooperation of the driving component and the switching component:

[0051] After starting the robotic arm 2, the position of the car door is recognized under the recognition of the vision sensor 3. After the vision sensor 3 controls the end of the robotic arm 2 away from the rotating frame 12 to move to the installation position of the car door component through the built-in controller, the end of the robotic arm 2 away from the rotating frame 12 gradually approaches the position where the nut or screw is located, such as the position of the nut or screw on the interior trim panel. At the same time, the built-in controller controls the electromagnet one 45 and the electromagnet two 52 to be energized. After the electromagnet two 52 is energized, it will repel the magnetic ring 54, causing the magnetic ring 54 to move to the side away from the connecting plate 51. The magnetic ring 54 drives the gear two 55 to move to the side away from the connecting plate 51 synchronously. After the gear two 55 moves, it no longer meshes with the gear one 49. And there is an elastic bushing between the magnetic ring 54 and the gear two 55. When the gear two 55 is separated from the gear one 49, under the action of friction, the gear two 55 will not rotate relative to the magnetic ring 54, and the situation of the gear two 55 rotating by itself due to the different weights of each tool 517 will not occur, improving the accuracy of subsequent tool 517 replacement. In addition, since the rotating plate 511 is made of iron, when the electromagnet one 45 is energized, it will magnetically attract the rotating plate 511. The electromagnet one 45 will move to the side close to the rotating plate 511 and stretch the spring one 410. During the movement of the electromagnet one 45, it will drive the movable block 41 and the limiting rod one 48 to move synchronously. Among them, the limiting rod one 48 will slide inside the limiting groove one 47. During the movement of the movable block 41, it will be sleeved on the rotating rod 512 through the installation groove 42. When the rotating rod 512 enters the installation groove 42, it will push the inclined surface of the rotating rod 512 through three symmetrically arranged limiting strips 44, causing the rotating rod 512 to rotate until the middle position of one side surface of the rotating rod 512 contacts the top position of the limiting strip 44 close to the pushing rod 43. At this time, the acting force direction of the limiting strip 44 on the rotating rod 512 points to the axis of the installation groove 42, that is, the limiting strip 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. After the rotating rod 512 enters the installation groove 42, the three limiting strips 44 respectively abut against the middle positions of the three side surfaces of the rotating rod 512. Since the cross-sectional shape of the rotating rod 512 is a regular hexagon, the rotating rod 512 inserted inside the installation groove 42 can be made unable to rotate through the limiting strips 44. In addition, during the movement of the movable block 41, the pushing rod 43 will be inserted into the inside of the through groove 518. After the pushing rod 43 moves into the inside of the through groove 518, it will push the abutting rod 510, and the abutting rod 510 will drive the connecting block 514 to move to the side away from the rotating plate 511. During the movement of the connecting block 514, it will stretch the spring two 513. During the movement of the connecting block 514, it will also drive the limiting rod two 516 to slide synchronously inside the limiting groove two 515. By the sliding of the limiting rod two 516 inside the limiting groove two 515, the connecting block 514 can be stably connected. When the connecting block 514 moves, it will synchronously drive the tool 517 to move to the side away from the rotating plate 511.The tool 517 corresponding to the position of the first electromagnet 45 is moved a set distance away from the fixed disk 57, ensuring that the tool 517 corresponding to the position of the first electromagnet 45 can effectively tighten the nuts or screws of the door components.

[0052] At this time, the robotic arm 2 is controlled again by the built-in controller, so that the robotic arm 2 drives the tool 517 to be positioned and abutted against the bolt or nut. Then, the built-in controller controls the motor on the robotic arm 2 to drive the rotating shaft 46 to rotate. The rotating shaft 46 drives the rotating rod 512 to rotate synchronously through the limiting strip 44 in the mounting groove 42. The rotating rod 512 drives the rotating plate 511 to rotate within the arc-shaped sleeve 59. The rotating rod 512 drives the connecting block 514 to rotate through the second limiting groove 515 and the second limiting rod 516. The connecting block 514 drives the tool 517 to rotate, and the tool 517 can tighten the nuts or screws of the door components, reducing the steps of manually tightening the bolts or nuts, avoiding the long-term use of electric drills by workers for assembly, and reducing the fatigue damage caused to workers by the door assembly work.

[0053] It should be noted that the vision sensor 3 and the robotic arm 2 are prior arts. Through the vision sensor 3, the built-in controller can control the robotic arm 2 to autonomously identify the installation position of the door components and be able to locate the installation position of the door components, enabling the door assembly to efficiently adapt to the production modes of different vehicle models, configurations, or customized requirements.

[0054] Replacing the tool 517:

[0055] When dealing with different nuts or screws, the built-in controller controls the electromagnets II 52 and electromagnet I 45 to cut off the power. After the power of electromagnet I 45 is cut off, it no longer magnetically attracts the rotating plate 511. Under the elastic reset action of the first spring 410, electromagnet I 45 moves towards the side close to the rotating shaft 46, so that the movable block 41 no longer sleeves on the rotating rod 512. At the same time, after the power of electromagnet II 52 is cut off, due to the lack of magnetism, the magnetic ring 54 will magnetically attract electromagnet II 52, and the magnetic ring 54 will move towards the side close to electromagnet II 52 on the sliding rod 53. The magnetic ring 54 will drive the second gear 55 to move towards the side close to the connecting plate 51 synchronously. If the teeth of the second gear 55 and the first gear 49 are not completely aligned at this time, the side of the second gear 55 close to electromagnet II 52 will fit against the side of the first gear 49 away from the robotic arm 2. Under the action of the magnetic ring 54 magnetically attracting electromagnet II 52, the second gear 55 is always kept in contact with the first gear 49, and the second gear 55 has a tendency to move towards the side close to the first gear 49. At this time, when the first gear 49 slowly rotates so that the position of its teeth aligns with the second gear 55, the second gear 55 can continue to move towards the side close to electromagnet II 52 until the first gear 49 and the second gear 55 mesh again. At this time, the motor on the robotic arm 2 is restarted to drive the rotating shaft 46 to rotate. When the rotating shaft 46 rotates, it will drive the second gear 55 to rotate on the magnetic ring 54 through the first gear 49. The second gear 55 drives the connecting frame 56 to rotate synchronously. When the connecting frame 56 rotates, it drives multiple extension plates 58 to rotate through the fixed disk 57. When the required tool 517 rotates to a position corresponding to electromagnet I 45, at this time, electromagnet I 45 and electromagnet II 52 are powered on again, and the above steps can be repeated, and then the connection between the rotating rod 512 and the installation groove 42 can be completed again, ensuring that the rotating shaft 46 can drive the replaced tool 517 to rotate through the installation groove 42 and the rotating rod 512, enabling the timely replacement of the tool 517 when the worker assembles different car door components and enabling the assembly and tightening of different car door components.

[0056] The above are only the preferred 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 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 fixed An electromagnet (45) is connected, a limiting groove (47) is provided on the outer surface of the rotating shaft (46), a limiting rod (48) which is slidably matched with the limiting groove (47) is fixedly connected to the electromagnet (45), 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 bolts 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), the switching component comprising a A connecting plate (51) connected to the mechanical arm (2), a side of the connecting plate (51) away from the mechanical arm (2) is fixedly connected to an electromagnet 2 (52), a sliding rod (53) is fixedly connected to the electromagnet 2 (52), a magnetic ring (54) is slidably connected to the sliding rod (53), a gear 2 (55) is rotatably connected to the magnetic ring (54), a connecting frame (56) is fixedly connected to the side of the gear 2 (55) away from the connecting plate (51) by bolts, a fixing plate (57) is fixedly connected to the side of the connecting frame (56) away from the gear 2 (55), and a plurality of extension plates are symmetrically fixedly connected to the fixing plate (57). (58), one end of each extension plate (58) away from the fixed plate (57) is fixedly connected to an arc sleeve (59), and a rotating rod (512) is rotatably arranged in each arc sleeve (59) through 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), the outer surface of the rotating shaft (46) is fixedly connected to a gear 1 (49), the gear 1 (49) is correspondingly arranged to the gear 2 (55), the rotating plate (511) is made of iron, and the rotating plate (511) is magnetically matched with the electromagnet 1 (45).

2. A high-flexibility positioning and assembly device for a vehicle door according to claim 1, 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).

3. A high-flexibility positioning and assembly device for a vehicle door according to claim 1, 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.

4. 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.

5. 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.

6. 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 with a roller (16).

7. 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).

Images