Automobile door follow-up mounting and tightening equipment

Abstract

The invention discloses automobile door follow-up mounting and tightening equipment which comprises a follow-up composite robot system and a screw feeding and distributing system, a material taking mechanical arm is arranged at the feeding end of the follow-up composite robot system, a clip system is arranged at the tail end of the material taking mechanical arm, and a tightening mechanical arm is arranged at the tightening end of the follow-up composite robot system. A tightening gun system is arranged at the tail end of the tightening mechanical arm, and a main visual follow-up system is arranged on the follow-up composite robot system. Full-automatic vehicle door tightening, vehicle door tightening accompanying operation, automatic feeding and taking, automatic nail supplying and tightening are achieved, the labor cost is greatly saved, the operation quality is improved, the tightening rhythm is saved, the production line starting rate is reduced, the production efficiency is improved, the vehicle door position, the production line speed, the advancing direction and the mounting hole position can be accurately recognized, and the production efficiency is improved. Visual data are transmitted to a follow-up composite robot system, precise tightening is conducted, the equipment failure rate is reduced, and safe operation of equipment is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automobile processing, and particularly to a follow-up installation and tightening device for automobile doors. Background Art

[0002] With the continuous innovation of automobile assembly processes, the demand for automation and intelligence is increasing day by day. However, there are a wide variety of general assembly processes and diverse products, which impose higher requirements on production equipment. Currently, in the door assembly workshop, the installation of door screws is mostly carried out manually, and there are multiple difficulties in the field of automatic installation and tightening of door screws.

[0003] First of all, the feeding, nail insertion, and tightening of screws are mainly manual and semi-automatic, relying heavily on labor. Further, existing automatic door screw tightening devices mostly have a tightening gun at the end of an industrial six-axis robot for fixed-point installation, which means that when the door enters the screw tightening station, it must stop for the automatic device to start working. They do not have a follow-up function, which not only affects the efficiency of the production line but also easily scratches the product due to errors in the stopping position each time. In addition, existing tightening is mostly done by manually holding a tightening gun, manually inserting and tightening the nail or placing the tool on the end flange of a fixed six-axis robot for fixed-point placement, with safety guards added around, increasing costs and floor space.

[0004] Therefore, in order to be able to tighten in a narrow space, be able to install while following, improve production efficiency and installation quality, there is an urgent need for a screw installation and tightening system for a robot to follow the movement of an automobile door. Summary of the Invention

[0005] The object of the present invention is to provide a follow-up installation and tightening device for automobile doors, which can perform follow-up operations for door tightening, automatically feed and pick up materials, automatically supply nails and tighten them, greatly saving labor costs, improving operation quality, saving the tightening beat, reducing the production line start-up rate, and improving production efficiency.

[0006] To solve the above technical problems, the present invention provides a follow-up installation and tightening device for automobile doors, which includes a follow-up composite robot system and a screw feeding and sorting system. The follow-up composite robot system is arranged on the side of the car door production line. A material-taking manipulator is arranged at the feeding end of the follow-up composite robot system. A magazine system is arranged at the end of the material-taking manipulator. A tightening manipulator is arranged at the tightening end of the follow-up composite robot system. A tightening gun system is arranged at the end of the tightening manipulator. A main vision follow-up system is arranged on the follow-up composite robot system. The screw feeding and sorting system is close to the feeding end of the follow-up composite robot system. The screw feeding and sorting system is used to orderly arrange and move multiple screws to the loading position. The material-taking manipulator drives the magazine system to move to the loading position, and the magazine system provides screws for the tightening gun system. The main vision follow-up system is used to obtain the moving state of the car door production line, so that the tightening manipulator drives the tightening gun system to move with the door to be processed. The tightening gun system is used to pick up the screws on the magazine system and tighten them on the door to be processed.

[0007] Preferably, the screw feeding and sorting system includes a vibrating disk and a nail-taking station. A two-way screw transportation module is arranged between the vibrating disk and the nail-taking station. A stop mechanism is arranged at the outlet of the vibrating disk.

[0008] Preferably, the inner end of the nail-taking station is connected to the vibrating disk, and an artificial nail-loading mechanism is arranged at the outer end of the nail-taking station.

[0009] Preferably, the follow-up composite robot systems are arranged on both sides of the car door production line, and the nail-taking stations are arranged on both sides of the vibrating disk.

[0010] Preferably, the magazine system includes a first base and a plurality of clamping mechanisms installed under the first base and arranged in a straight line in sequence. Each clamping mechanism is used to clamp a single screw. A single-screw loosening mechanism and a full-screw loosening mechanism are arranged on the first base. The single-screw loosening mechanism sequentially aligns with each clamping mechanism and controls the aligned single clamping mechanism to loosen. The full-screw loosening mechanism is used to control all the clamping mechanisms to loosen simultaneously.

[0011] Preferably, docking pins are arranged at both ends under the first base, and a screw sweeping module is arranged under the first base.

[0012] Preferably, the tightening gun system includes a second base, a tightening sleeve, a pressing mechanism, a linear sliding module and a tightening mechanism installed on the second base. A single screw is installed in the tightening sleeve. The pressing mechanism drives the tightening sleeve to axially displace through the linear sliding module to provide tightening pressure, and the tightening mechanism drives the tightening sleeve to rotate.

[0013] Preferably, a vibration damping and buffering mechanism is provided between the tightening sleeve and the tightening mechanism.

[0014] Preferably, an auxiliary vision following system and a micro vision screw recognition system are installed on the second base for determining the screw installation position.

[0015] Preferably, the tightening mechanism is provided with a torque detector, and the tightening state of the screw is judged according to the detection structure of the torque detector.

[0016] The present invention provides a follow-up installation and tightening device for automobile doors, including a follow-up composite robot system and a screw feeding and sorting system. The follow-up composite robot system is arranged on the side of the automobile door production line. A material taking robotic arm is arranged at the feeding end of the follow-up composite robot system. A magazine system is arranged at the end of the material taking robotic arm. A tightening robotic arm is arranged at the tightening end of the follow-up composite robot system. A tightening gun system is arranged at the end of the tightening robotic arm. A main vision following system is arranged on the follow-up composite robot system. The screw feeding and sorting system is close to the feeding end of the follow-up composite robot system.

[0017] During the working process, the screw feeding and sorting system orderly arranges and moves a plurality of screws to the feeding position. The material taking robotic arm drives the magazine system to move to the feeding position and places the plurality of screws on the magazine system. The magazine system provides screws for the tightening gun system. The main vision following system obtains the moving state of the automobile door production line, so that the tightening robotic arm drives the tightening gun system to move along with the door to be processed. The tightening gun system picks up the screws on the magazine system and tightens them on the door to be processed.

[0018] It realizes full automation of door tightening, follow-up operation of door tightening, automatic feeding and material taking, automatic screw supply and tightening, greatly saves labor costs, improves operation quality, saves tightening beats, reduces the production line starting rate, improves production efficiency, can accurately identify the door position, production line speed, traveling direction and installation hole position, transmits visual data to the follow-up composite robot system for accurate tightening, reduces equipment failure rate and ensures the safe operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of a specific embodiment of the follow-up installation and tightening device for automobile doors provided by the present invention;

[0020] Figure 2 It is a schematic structural diagram of the follow-up composite robot system in a specific embodiment of the follow-up installation and tightening device for automobile doors provided by the present invention;

[0021] Figure 3 It is a schematic structural diagram of the screw feeding and sorting system in a specific embodiment of the follow-up installation and tightening device for automobile doors provided by the present invention;

[0022] Figure 4 Schematic diagram of the structure of the manual nail feeding mechanism in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention;

[0023] Figure 5 Schematic diagram of the structure of the magazine system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention;

[0024] Figure 6 Front view schematic diagram of the magazine system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention;

[0025] Figure 7 Schematic diagram of the structure of the tightening gun system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention.

[0026] Among them, the follow-up composite robot system 1, the material taking manipulator 11, the tightening manipulator 12, the screw feeding and sorting system 2, the vibrating disk 21, the nail taking station 22, the two-way screw transportation module 23, the stop mechanism 24, the manual nail feeding mechanism 25, the magazine system 3, the first base 31, the clamping mechanism 32, the single-screw loosening mechanism 33, the full-screw loosening mechanism 34, the docking pin 35, the nail sweeping module 36, the tightening gun system 4, the second base 41, the tightening sleeve 42, the pressing mechanism 43, the linear sliding module 44, the tightening mechanism 45, the shock absorption and buffering mechanism 46, the auxiliary vision follow-up system 47, the micro vision nail recognition system 48, the main vision follow-up system 5, the car door production line 6, and the door to be processed 7. Specific embodiments

[0027] The core of the present invention is to provide an automotive door follow-up installation and tightening device, which realizes follow-up operation for door tightening, automatic feeding and material taking, automatic nail supply and tightening, greatly saving labor costs, improving operation quality, saving tightening cycle time, reducing the production line start-up rate, and improving production efficiency.

[0028] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Please refer to Figure 1 and Figure 2 , Figure 1 Schematic diagram of the structure of a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention; Figure 2 Schematic diagram of the structure of the follow-up composite robot system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention.

[0030] The specific embodiment of the present invention provides a follow-up installation and tightening device for automobile doors, including a follow-up composite robot system 1 and a screw feeding and sorting system 2. The follow-up composite robot system 1 is used to move synchronously with the car door production line 6 and can carry relevant system equipment. An energy system is arranged on the side of the follow-up composite robot system 1, which is used to supply power and charge the entire system, including a battery, a wireless charging device, a contact charging device, and a quick battery swapping system, to realize wireless charging and fragmented charging, and can achieve continuous operation without interruption. The screw feeding and sorting system 2 is used to arrange disordered screws in an orderly manner and transplant the arranged screws to the designated feeding position. In order to reasonably arrange the working positions, the follow-up composite robot system 1 is arranged on the side of the car door production line 6. The moving direction of the car door production line 6 is defined as horizontal, and the horizontal direction perpendicular to the horizontal is defined as vertical. The two horizontal ends of the follow-up composite robot system 1 are respectively the feeding end and the tightening end. A picking manipulator 11 is arranged at the feeding end of the follow-up composite robot system 1, and a magazine system 3 is arranged at the end of the picking manipulator 11, which is used to provide screw parts for the tightening gun system 4 during the follow-up car door tightening and installation operation, and pick and place screw parts when the system moves forward. A tightening manipulator 12 is arranged at the tightening end of the follow-up composite robot system 1, and a tightening gun system 4 is arranged at the end of the tightening manipulator 12. A main vision follow-up system 5 is arranged on the follow-up composite robot system 1, which is used to identify the car door holes, and follow up to tighten the screws, so that the tightening gun system 4 follows the car door production line 6, obtains relevant information such as the speed, position, and movement direction of the car door production line 6, identifies the car door, identifies the car door installation holes, and guides the robot to move and find holes according to the position data, including components such as a camera, a fill light, an angle adjustment device, and a data processing controller. The screw feeding and sorting system 2 is close to the feeding end of the follow-up composite robot system 1.

[0031] During the working process, the screw feeding and sorting system 2 arranges multiple screws in an orderly manner and moves them to the feeding position. The picking manipulator 11 drives the magazine system 3 to move to the feeding position. The magazine system 3 obtains multiple screws from the feeding position and provides the screws for the tightening gun system 4. The main vision follow-up system 5 obtains the moving state of the car door production line 6, so that the tightening manipulator 12 drives the tightening gun system 4 to move with the door to be processed 7. The tightening gun system 4 picks up the screws on the magazine system 3 and tightens them on the door to be processed 7. In order to achieve the above functions, a control device is configured and connected to the above components to realize automatic control, double-arm collaborative operation, which is convenient and fast.

[0032] It realizes full automation of door tightening, performs door tightening along with the operation, automatically loads and unloads materials, automatically supplies nails and tightens, greatly saving labor costs, improving operation quality, saving tightening beats, reducing the production line startup rate, increasing production efficiency, being able to accurately identify the door position, production line speed, traveling direction and installation hole position, transmitting visual data to the follow-up composite robot system for accurate tightening, reducing equipment failure rate, and ensuring the safe operation of the equipment. At the same time, it is highly integrated and small in size, capable of operating in a narrow space range, with higher layout flexibility, greatly reducing the manpower and material resources spent on on-site transformation and relocation.

[0033] Please refer to Figure 3 and Figure 4 , Figure 3 which is a schematic structural diagram of the screw feeding and distributing system in a specific embodiment of the automotive door follow-up installation and tightening equipment provided by the present invention; Figure 4 which is a schematic structural diagram of the manual nail feeding mechanism in a specific embodiment of the automotive door follow-up installation and tightening equipment provided by the present invention.

[0034] In the automotive door follow-up installation and tightening equipment provided by the specific embodiment of the present invention, the screw feeding and distributing system 2 includes a vibrating disk 21 and a nail taking station 22. A two-way screw transportation module 23 is arranged between the vibrating disk 21 and the nail taking station 22, and a stop mechanism 24 is arranged at the outlet of the vibrating disk 21. During the working process, the vibrating disk 21 starts to discharge single screws in sequence from the disordered screws. Through the stop mechanism 24, the screws are arranged one by one in the slots at a fixed distance, and each slot is filled with a screw. The slot module with screws is transported to the nail taking station 22 in two directions through the two-way screw transportation module 23. Among them, the two-way screw transportation module 23 includes structures such as a linear track and a slider, and a motor can be set as the driving part to drive the slider to move along the linear track to realize the transportation of the slot module.

[0035] Furthermore, the inner end of the nail taking station 22 is connected to the vibrating disk 21, and a manual nail feeding mechanism 25 is arranged at the outer end of the nail taking station 22. By setting the manual nail feeding mechanism 25, manual redundancy is provided to improve the reliability of the equipment.

[0036] Preferably, follow-up composite robot systems 1 are arranged on both sides of the door production line 6, and nail taking stations 22 are arranged on both sides of the vibrating disk 21. The feeding can be supplied in two lines, and the doors on both the left and right sides of the production line can be tightened synchronously, occupying a small space, being able to be carried out in a narrow space, with a simple and reliable structure and obvious cost advantages.

[0037] Please refer to Figure 5 and Figure 6 , Figure 5Schematic diagram of the structure of the magazine system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention; Figure 6 Front view schematic diagram of the magazine system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention.

[0038] In the automotive door follow-up installation and tightening device provided in the specific embodiment of the present invention, the magazine system 3 includes a first base 31. A plurality of clamping mechanisms 32 are installed below the first base 31. The plurality of clamping mechanisms 32 are arranged in a straight line in sequence. The clamping mechanisms 32 can open or close, enabling each clamping mechanism 32 to clamp a single screw or release the screw so that the screw can be disengaged. At the same time, a single-screw loosening mechanism 33 and a full-screw loosening mechanism 34 are provided on the first base 31, and are coordinated with a driving mechanism. The driving mechanism can drive the single-screw loosening mechanism 33 to move in a straight line, so that the single-screw loosening mechanism 33 is aligned with each clamping mechanism 32 in sequence. The single-screw loosening mechanism 33 controls the release of the aligned single clamping mechanism 32, and the full-screw loosening mechanism 34 is used to control the simultaneous release of all clamping mechanisms 32. Specifically, the driving mechanism can be a motor used in combination with a chain. The single-screw loosening mechanism 33 and the full-screw loosening mechanism 34 can be electric cylinders or air cylinders, etc., which have an extending rod. After the extending rod extends, it drives the clamping mechanism 32 to open. After the extending rod retracts, the clamping mechanism 32 automatically returns to the closed state. The types and layout methods of each component can also be adjusted according to the situation, all within the protection scope of the present invention.

[0039] Furthermore, docking pins 35 are provided at both ends below the first base 31 for mating with the pin holes on the nail-taking station 22 when taking nails, so that the magazine system 3 can be moved to the correct position. In addition, a nail-sweeping module 36 is provided below the first base 31 to obtain the position of the screw.

[0040] Please refer to Figure 7 , Figure 7 Schematic diagram of the structure of the tightening gun system in a specific embodiment of the automotive door follow-up installation and tightening device provided by the present invention.

[0041] Based on the automotive door follow-up installation and tightening device provided in the above specific embodiments, the tightening gun system 4 includes a second base 41, and a tightening sleeve 42, a pressing mechanism 43, a linear sliding module 44, and a tightening mechanism 45 installed on the second base 41. The second base 41 is provided with a flange platform connected to the tightening robotic arm 12. A single screw is installed inside the tightening sleeve 42. The tightening mechanism 45 and the tightening sleeve 42 are coaxially arranged. The tightening mechanism 45 can be a motor structure, which drives the tightening sleeve 42 to rotate after being started. The pressing mechanism 43 cooperates with the linear sliding module 44. The linear sliding module 44 is connected to the tightening sleeve 42 and drives the axial displacement of the tightening sleeve 42 to provide the tightening pressure. Among them, the pressing mechanism 43 can be a cylinder or an electric cylinder. The linear sliding module 44 includes structures such as a track and a slider, and can also be driven by a motor. The linear sliding module 44 is a matching lead screw structure, all of which are within the protection scope of the present invention.

[0042] Preferably, a vibration damping and buffering mechanism 46, which can be a spring or the like, is provided between the tightening sleeve 42 and the tightening mechanism 45 to achieve buffering and vibration damping during the pressing process.

[0043] In the automotive door follow-up installation and tightening device provided in the specific embodiment of the present invention, an auxiliary vision follow-up system 47 and a micro vision screw recognition system 48 are installed on the second base 41 for determining the screw installation position. Further, the tightening mechanism 45 is provided with a torque detector, and the tightening state of the screw is judged according to the detection structure of the torque detector.

[0044] The specific working process is as follows: Before the car door enters the screw tightening area, the vibrating disk 21 discharges the disordered screws one by one in sequence. Through the stop mechanism 22, the screws are arranged one by one in the slots at a fixed distance, and each slot is filled with a screw. Subsequently, the slot module with screws is sent to the feeding positions in both directions through the two-way screw transportation module 23 to supply materials to both sides of the production line. The control system then controls the picking manipulator 11 to return to the nail-throwing position, and simultaneously controls the tightening manipulator 12 to adjust its posture to the photographing position. The camera takes pictures of the target on the nail-supplying device to obtain coordinate information. Guide the picking manipulator 11 to move to the nail-throwing position, and simultaneously adjust the posture of the magazine system 3 to the nail-throwing state; after the magazine system 3 reaches the nail-throwing position, the small push rod of the full-screw nail-loosening mechanism 34 extends, forcing the clamping mechanism 32 to open, and the remaining screws on the magazine system 3 fall onto the nail-throwing tray to complete the nail-throwing; then the control system controls the magazine system 3 to adjust its posture and move to the nail-picking position, and docks with the nail-supplying device through two docking pins 35, and the sensor detects whether the docking is in place; then the small push rod of the full-screw nail-loosening mechanism 34 retracts, and the clamping mechanism 32 returns to the clamping state under the pre-pressure of the spring, clamps the screw on the nail-picking station 22, and controls the picking manipulator 11 to return to the original position to complete the nail-picking action. The control system controls the picking manipulator 11 to adjust its posture and position to reach the working position for supplying nails to the tightening gun system 4; then controls the tightening manipulator 12 to adjust its posture to reach the nail-picking station; controls the tightening gun system 4 to dock with the magazine system 3, and controls the tightening sleeve 42 to rotate to recognize the cap. The small push rod of the single-screw nail-loosening mechanism 33 moves to the corresponding single-screw position through the motor-driven ball screw slide, the push rod moves out, opens the clamping mechanism 32 of the screw, makes the screw loose and fall on the nail-loosening mechanism 33, the small push rod of the single-screw nail-loosening mechanism 33 retracts, and moves to the next screw position through the motor-driven ball screw slide; the control system controls the tightening gun system 4 to return to the pre-tightening photographing station and waits for the car door to be tightened on the line to arrive;

[0045] When the car door enters the screw tightening area and reaches the starting position of following the production line, the main vision following system 5 starts to identify the target on the door gripper, and obtains the moving direction and real-time speed of the production line. Subsequently, it controls the composite robot to follow the line synchronously. It controls the tightening gun system 4 to reach the camera calibration and photographing position, and then controls the vision cameras of the auxiliary vision following system 47 and the micro vision screw recognition system 48 to photograph the area of the door hole to be installed in real time, and three-dimensionally compensates the collaborative robot according to the vision positioning result to make it reach the calibrated posture; after successful vision recognition, the control system controls the pressing mechanism 43 to act, controls the tightening sleeve 42 to extend to the position to be tightened, the pressing mechanism 43 presses down and provides the tightening pressure for subsequent screw tightening; the tightening mechanism 45 rotates, locks the screw on the tightening sleeve 42 onto the car door, and feeds back the tightening result to the tightening system, and judges whether the tightening torque is within the preset tightening threshold range. If it is not within the tightening threshold range, an alarm message is generated, and the presence or absence of the screw on the gun head of the tightening gun system 4 is detected. If there is no screw, the next step is carried out. If there is a screw, the tightening gun system 4 is controlled to take a screw empty from the screw supply mechanism; if it is within the tightening threshold range, the feedback result is normal, and the next step is carried out; the control system controls the motor of the pressing mechanism 43 to move up and down, so that the tightening sleeve 42 retracts to its original position; the control system controls the tightening gun system 4 to move from the photographing position to below the screw supply mechanism, the position of the second screw, and completes the task of taking the screw of this screw. Repeat the previous actions to start the next cycle.

[0046] The above has introduced in detail the automotive door follow-up installation and tightening equipment provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A follow-up installation and tightening device for a car door, characterized in that, It includes a follow-up composite robot system (1) and a screw feeding and sorting system (2). The follow-up composite robot system (1) is arranged on the side of the car door production line (6). The feeding end of the follow-up composite robot system (1) is provided with a material taking robotic arm (11). The end of the material taking robotic arm (11) is provided with a magazine system (3). The tightening end of the follow-up composite robot system (1) is provided with a tightening robotic arm (12). The end of the tightening robotic arm (12) is provided with a tightening gun system (4). A main vision follow-up system (5) is arranged on the follow-up composite robot system (1). The screw feeding and sorting system (2) is close to the feeding end of the follow-up composite robot system (1). The screw feeding and sorting system (2) is used for orderly arranging and moving a plurality of screws to the feeding position. The material taking robotic arm (11) drives the magazine system (3) to move to the feeding position, and the magazine system (3) provides screws for the tightening gun system (4). The main vision follow-up system (5) is used for obtaining the moving state of the car door production line (6) to enable the tightening robotic arm (12) to drive the tightening gun system (4) to move along with the car door to be processed (7). The tightening gun system (4) is used for picking up the screws on the magazine system (3) and tightening them on the car door to be processed (7).

2. The automotive door follow-up installation and tightening device according to claim 1, wherein, The screw feeding and sorting system (2) includes a vibrating disk (21) and a nail taking station (22). A two-way screw transportation module (23) is arranged between the vibrating disk (21) and the nail taking station (22). A stop mechanism (24) is arranged at the outlet of the vibrating disk (21).

3. The automotive door follow-up installation and tightening device according to claim 2, characterized in that, The inner end of the nail taking station (22) is connected to the vibrating disk (21), and an artificial nail feeding mechanism (25) is arranged at the outer end of the nail taking station (22).

4. The automotive door follow-up installation tightening device according to claim 3, characterized in that, The follow-up composite robot systems (1) are arranged on both sides of the car door production line (6), and the nail taking stations (22) are arranged on both sides of the vibrating disk (21).

5. The automotive door follow-up installation and tightening device according to claim 1, characterized in that, The magazine system (3) includes a first base (31) and a plurality of clamping mechanisms (32) which are installed under the first base (31) and arranged in a straight line in sequence. Each clamping mechanism (32) is used for clamping a single screw. A single-screw loosening mechanism (33) and a full-screw loosening mechanism (34) are arranged on the first base (31). The single-screw loosening mechanism (33) is aligned with each clamping mechanism (32) in sequence and controls the aligned single clamping mechanism (32) to loosen. The full-screw loosening mechanism (34) is used for controlling all the clamping mechanisms (32) to loosen simultaneously.

6. The automotive door follow-up installation and tightening device according to claim 5, characterized in that, Docking pins (35) are arranged at both ends under the first base (31), and a screw sweeping module (36) is arranged below the first base (31).

7. The automotive door follow-up installation and tightening device according to any one of claims 1 to 6, characterized in that, The tightening gun system (4) includes a second base (41), and a tightening sleeve (42), a pressing mechanism (43), a linear sliding module (44) and a tightening mechanism (45) mounted on the second base (41). A single screw is installed in the tightening sleeve (42). The pressing mechanism (43) drives the tightening sleeve (42) to axially displace through the linear sliding module (44) to provide tightening pressure, and the tightening mechanism (45) drives the tightening sleeve (42) to rotate.

8. The automotive door follow-up installation and tightening device according to claim 7, characterized in that, A vibration damping and buffering mechanism (46) is provided between the tightening sleeve (42) and the tightening mechanism (45).

9. The automotive door follow-up installation and tightening device according to claim 8, characterized in that, An auxiliary vision follow-up system (47) and a micro vision screw recognition system (48) are mounted on the second base (41) for determining the screw installation position.

10. The automotive door follow-up installation tightening device according to claim 9, characterized in that, The tightening mechanism (45) is provided with a torque detector, and judges the tightening state of the screw according to the detection result of the torque detector.

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