Rotary positioning flexible automobile door clamp

Abstract

In the clamp, a frame is fixedly connected with an industrial robot quick-changing device, the frame surrounds the industrial robot quick-changing device to form a structure shaped like a Chinese character'ri ', a linear guide rail is fixedly connected with the lower end of the frame through connecting pieces at the two ends, and a servo motor is in threaded connection with the linear guide rail; the connecting sliding block is slidably connected with the linear guide rail and is in transmission connection with the servo motor, the vertical right-folding air cylinder is fixedly connected with the connecting sliding block, the air cylinder sliding block is connected with the vertical right-folding air cylinder so as to move in the Z direction under driving of the vertical right-folding air cylinder, and the gripper is connected with the air cylinder sliding block. The linear movement guide rail is fixedly connected with the lower end of the linear movement guide rail connecting piece, the linear movement guide rail sliding block is connected with the linear movement guide rail in a sliding mode, and the positioning pin is connected with a push block of the compensation linear air cylinder.

Description

Technical Field

[0001] The present invention relates to the technical field of car door assembly, and particularly to a rotary positioning flexible car door fixture. Background Art

[0002] Automobile manufacturers not only need to efficiently respond to the diverse demands of vehicle models, but also need to ensure the maximization of production line flexibility and cost-effectiveness. Currently, many enterprises have encountered a series of problems in dealing with this challenge:

[0003] 1. The space around the automotive assembly robot is limited, and it is impossible to configure multiple grippers.

[0004] 2. Traditional methods require dedicated grippers for each vehicle model, which significantly increases the hardware cost. For example, in Ford's previous production model, a new frame and fixture had to be developed for each new vehicle model launched.

[0005] 3. Finally, when switching vehicle models, the gripper needs to be replaced, which results in loss of production time and waiting waste.

[0006] The information disclosed in the background art section is only used to enhance the understanding of the background of the present invention, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0007] In view of the deficiencies or defects existing in the prior art, a rotary positioning flexible car door fixture is provided, which is convenient and accurate in positioning and applicable to multiple car doors. The same gripper can efficiently adapt to the grasping and handling of multiple vehicle model doors without the need to replace the gripper. It significantly reduces the equipment replacement and maintenance costs and also improves the response ability of the production line.

[0008] The object of the present invention is achieved by the following technical solutions.

[0009] A rotary positioning flexible car door fixture includes:

[0010] A main body frame, which includes:

[0011] An industrial robot quick-change device,

[0012] A frame, which is fixedly connected to the industrial robot quick-change device, and the frame forms a rectangular structure with a horizontal bar in the middle around the industrial robot quick-change device.

[0013] A plurality of linear guide rail assemblies, which are installed on the frame. The linear guide rail assembly includes:

[0014] A linear guide rail, which is fixedly connected to the lower end of the frame through connectors at both ends,

[0015] A servo motor, which is threadedly connected to the linear guide rail;

[0016] A moving gripper, which comprises

[0017] A connecting slider, which is slidably connected to the linear guide rail and is drivingly connected to the servo motor,

[0018] A vertical right-fold cylinder, which is fixedly connected to the connecting slider,

[0019] A cylinder slider, which is connected to the vertical right-fold cylinder and moves in the Z direction under its drive,

[0020] A gripper, which is connected to the cylinder slider;

[0021] A positioning pin part, which comprises

[0022] A rotary cylinder, which is fixedly connected to the frame,

[0023] A linear movement guide rail connecting piece, which is connected to the output rotating shaft of the rotary cylinder,

[0024] A linear movement guide rail, which is fixedly connected to the lower end of the linear movement guide rail connecting piece,

[0025] A linear movement guide rail slider, which is slidably connected to the linear movement guide rail,

[0026] A compensation linear cylinder fixing piece, which is fixed to the linear movement guide rail slider,

[0027] A compensation linear cylinder, which is fixedly connected to the compensation linear cylinder fixing piece,

[0028] A positioning pin, which is connected to the push block of the compensation linear cylinder.

[0029] In the described rotary positioning flexible car door fixture, the gripper comprises

[0030] A clamping cylinder, which is fixedly connected to the cylinder slider,

[0031] A first buffer cylinder fixing piece, which is fixedly connected to the cylinder slider and is adjacent to the clamping cylinder,

[0032] A second buffer cylinder fixing piece, which is fixedly connected to the clamping cylinder,

[0033] A buffer cylinder, which is respectively bolted to the first buffer cylinder fixing piece and the second buffer cylinder fixing piece and is arranged between them,

[0034] A buffer cushion block, which is installed at the top end of the buffer cylinder.

[0035] In the described rotary positioning flexible car door fixture, the clamping cylinder rotates the cylinder arm clockwise to clamp the car door.

[0036] In the described rotary positioning flexible automotive door fixture, in the rectangular structure with a long side in the x direction and a short side in the y direction, a set of linear guide assemblies is mounted on the lower end face of a short side extending in the y direction, and an industrial robot quick-change device is mounted on the upper end of the short side. The three sets of linear guide assemblies are respectively installed at the lower end of the long side extending in the x direction.

[0037] In the described rotary positioning flexible automotive door fixture, the moving range of the moving gripper on the linear guide assembly is 0 - 100 mm.

[0038] In the described rotary positioning flexible automotive door fixture, the stroke of the cylinder slider in the Z direction is 0 - 100 mm.

[0039] In the described rotary positioning flexible automotive door fixture, the compensation linear cylinder fixing part and the positioning pin move linearly along the linear movement guide rail with the linear movement guide rail slider, and the movement stroke is 0 - 500 mm.

[0040] In the described rotary positioning flexible automotive door fixture, the connecting slider is of an L-shaped structure, which includes a vertical section and a horizontal section, and pulleys for sliding along the linear guide are provided inside the vertical section.

[0041] In the described rotary positioning flexible automotive door fixture, it further includes a PLC controller for controlling the movement of the rotary positioning flexible automotive door fixture.

[0042] In the described rotary positioning flexible automotive door fixture, the frame is composed of octagonal tubes.

[0043] Compared with the prior art, the beneficial effects brought by the present invention are as follows: The efficiency of clamping and transporting the car door is significantly improved, the time required for the traditional fixture to clamp the car door can be greatly reduced, and it has the characteristics of high strength and low weight. When the gripper is under the maximum load (the weight of the car door is 15 kg) and an externally applied force of 200 N, through finite element analysis, the equivalent stress at the maximum stress point is 0.203 MPa, which is far less than the yield strength of aluminum, and the safety factor is 15. This indicates that the structural design can operate stably for a long time. The stress is far lower than the yield limit of the material, and the system can be expected to have a long service life and a low failure rate under normal operation. Through regular maintenance and inspection, the actual life of the equipment can be extended, the failure rate can be reduced, and the cost of fixture replacement can be reduced.

[0044] The above description is only an overview of the technical solution of the present invention. In order to make the technical means of the present invention clearer and to the extent that those skilled in the art can implement it according to the content of the specification, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following takes the specific implementation manner of the present invention as an example for illustration. Description of the Drawings

[0045] By reading the detailed description in the following preferred specific embodiments, various other advantages and benefits of the present invention will become clear to those of ordinary skill in the art. The accompanying drawings of the specification are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Obviously, the following-described drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts. Moreover, throughout the drawings, the same reference numerals are used to represent the same components.

[0046] In the drawings:

[0047] Figure 1 is a schematic structural diagram of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0048] Figure 2 is a schematic structural diagram of the main frame of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0049] Figure 3 is a schematic structural diagram of the moving gripper of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0050] Figure 4 is a schematic structural diagram of the positioning pin part of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0051] Figure 5 is a schematic diagram of the relationship between the various components of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0052] Figure 6 is a schematic diagram of the motion relationship of the four groups of moving grippers of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0053] Figure 7 is a schematic diagram of the motion relationship of the two groups of positioning pin parts of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0054] Figure 8 is a schematic diagram of the motion relationship of the gripper of a rotary positioning flexible automotive door fixture provided according to an embodiment of the present invention;

[0055] The reference numerals are:

[0056] A - Main body frame, B - Moving gripper, C - Positioning pin part, A1 - Quick change device for industrial robot, A2 - Frame, A3 - Linear guide rail assembly, A31 - Servo motor, A32 - Linear guide rail, A33 - Connecting piece, B1 - Connecting slider, B2 - Vertical right - folding cylinder, B3 - Cylinder slider, B4 - Gripper, B41 - Clamping cylinder, B42 - Buffer cylinder, B431 - First buffer cylinder fixing piece, B432 - Second buffer cylinder fixing piece, B44 - Buffer cushion block, C1 - Rotary cylinder, C2 - Linear moving guide rail connecting piece, C3 - Linear moving guide rail, C4 - Linear moving guide rail slider, C5 - Compensation linear cylinder, C6 - Compensation linear cylinder fixing piece, C7 - Positioning pin.

[0057] The present invention will be further explained below in conjunction with the drawings and embodiments. Detailed implementation manners

[0058] The specific embodiments of the present invention will be described in more detail below with reference to the drawings. Although the specific embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0059] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that technicians may use different terms to refer to the same component. The specification and claims do not use the difference in terms as a way to distinguish components, but use the difference in the functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "comprising" or "including" is an open - ended term and should be interpreted as "including but not limited to". The subsequent description in the specification is for the purpose of describing the preferred implementation manners of the present invention, but the description is based on the general principles of the specification and is not used to limit the scope of the present invention. The scope of protection of the present invention shall be determined by the scope defined by the appended claims.

[0060] For the convenience of understanding the embodiments of the present invention, the following will further explain with several specific embodiments as examples in conjunction with the drawings, and each drawing does not constitute a limitation to the embodiments of the present invention.

[0061] For better understanding, as Figures 1 to 8 shown, a rotary positioning flexible fixture for automobile doors includes

[0062] The main body frame A, which includes

[0063] The quick change device A1 for industrial robot

[0064] Frame A2 is fixedly connected to the quick-change device A1 of the industrial robot. The frame A2 forms a rectangular structure with a vertical bar in the middle around the quick-change device A1 of the industrial robot.

[0065] A plurality of linear guide rail assemblies A3 are installed on the frame A2. The linear guide rail assembly A3 includes:

[0066] A linear guide rail A32 is fixedly connected to the lower end of the frame A2 through connectors A33 at both ends.

[0067] A servo motor A31 is threadedly connected to the linear guide rail A32.

[0068] A moving gripper B includes:

[0069] A connecting slider B1 is slidably connected to the linear guide rail A32 and is drivingly connected to the servo motor A31.

[0070] A vertical right-fold cylinder B2 is fixedly connected to the connecting slider B1.

[0071] A cylinder slider B3 is connected to the vertical right-fold cylinder B2 to move in the Z direction under its drive.

[0072] A gripper B4 is connected to the cylinder slider B3.

[0073] A positioning pin part C includes:

[0074] A rotary cylinder C1 is fixedly connected to the frame A2.

[0075] A linear movement guide rail connecting part C2 is connected to the output rotating shaft of the rotary cylinder C1.

[0076] A linear movement guide rail C3 is fixedly connected to the lower end of the linear movement guide rail connecting part C2.

[0077] A linear movement guide rail slider C4 is slidably connected to the linear movement guide rail C3.

[0078] A compensation linear cylinder fixing part C6 is fixed to the linear movement guide rail slider C4.

[0079] A compensation linear cylinder C5 is fixedly connected to the compensation linear cylinder C5.

[0080] A positioning pin C7 is connected to the push block of the compensation linear cylinder C5.

[0081] In the preferred embodiment of the rotary positioning flexible car door fixture described above, the gripper B4 includes:

[0082] A clamping cylinder B41 is fixedly connected to the cylinder slider B3.

[0083] The first buffer cylinder fixing part B431, which is fixedly connected to the cylinder slider B3 and adjacent to the clamping cylinder B41,

[0084] The second buffer cylinder fixing part B432, which is fixedly connected to the clamping cylinder B41,

[0085] The buffer cylinder B42, which is bolted to the first buffer cylinder fixing part B431 and the second buffer cylinder fixing part B432 respectively and is arranged between them,

[0086] The buffer cushion block B44, which is installed at the top end of the buffer cylinder B42.

[0087] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the clamping cylinder B41 rotates the cylinder arm clockwise to clamp the car door.

[0088] In the preferred embodiment of the rotary positioning flexible automotive door fixture, in the "day" - shaped structure, the long side is in the x - direction and the short side is in the y - direction. A set of linear guide rail assemblies A3 are mounted on the lower end face of a short side extending in the y - direction, and an industrial robot quick - change device A1 is mounted on the upper end of the short side. The three sets of linear guide rail assemblies A3 are respectively installed at the lower end of the long side extending in the x - direction.

[0089] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the moving range of the moving gripper B moving on the linear guide rail assemblies A3 is 0 - 100 mm.

[0090] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the stroke of the cylinder slider B3 in the Z - direction is 0 - 100 mm.

[0091] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the compensation linear cylinder fixing part C6 and the positioning pin move linearly along the linear moving guide rail C3 with the linear moving guide rail slider C4, and the moving stroke is 0 - 500 mm.

[0092] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the connecting slider B1 is of an L - shaped structure, which includes a vertical section and a horizontal section. Pulleys for sliding along the linear guide rail A32 are arranged inside the vertical section.

[0093] In the preferred embodiment of the rotary positioning flexible automotive door fixture, it further includes a PLC controller for controlling the movement of the rotary positioning flexible automotive door fixture.

[0094] In the preferred embodiment of the rotary positioning flexible automotive door fixture, the frame A2 is composed of octagonal tubes.

[0095] In one embodiment, a rotary positioning flexible automotive door fixture includes,

[0096] The main body frame A, which includes

[0097] The industrial robot quick-change device A1

[0098] The frame A2, which is fixedly connected to the industrial robot quick-change device A1, and the frame A2 forms a rectangular structure around the industrial robot quick-change device A1

[0099] A plurality of linear guide rail assemblies A3, which are installed on the frame A2. The linear guide rail assembly A3 includes

[0100] The linear guide rail A32, which is fixedly connected to the lower end of the frame A2 through the connectors at both ends

[0101] The servo motor A31, which is threadedly connected to the linear guide rail A32

[0102] The moving gripper B, which includes

[0103] The connecting slider B1, which is slidably connected to the linear guide rail A32 and is drivingly connected to the servo motor A31

[0104] The vertical right-fold cylinder B2, which is fixedly connected to the connecting slider B1

[0105] The cylinder slider B3, which is connected to the vertical right-fold cylinder B2 to move in the Z direction under its drive

[0106] The gripper B4, which is connected to the cylinder slider B3. The gripper B4 includes

[0107] The clamping cylinder B41, which is fixedly connected to the cylinder slider B3

[0108] The first buffer cylinder fixing part B431, which is fixedly connected to the cylinder slider B3 and is adjacent to the clamping cylinder B41

[0109] The second buffer cylinder fixing part B432, which is fixedly connected to the clamping cylinder B41

[0110] The buffer cylinder B42, which is respectively bolted to the first buffer cylinder fixing part B431 and the second buffer cylinder fixing part B432 and is arranged between them

[0111] The buffer pad B44, which is installed at the top of the buffer cylinder B42

[0112] The positioning pin part, which includes

[0113] The rotary cylinder C1, which is fixedly connected to the frame A2

[0114] The linear motion guide rail connecting piece C2 connects the output rotating shaft of the rotating cylinder C1.

[0115] The linear motion guide rail C3 is fixedly connected to the lower end of the linear motion guide rail connecting piece C2.

[0116] The linear motion guide rail slider C4 is slidably connected to the linear motion guide rail C3.

[0117] The compensating linear cylinder fixing piece C6 is fixed to the linear motion guide rail slider C4.

[0118] The compensating linear cylinder C5 is fixedly connected to the compensating linear cylinder C5.

[0119] The positioning pin C7 connects the push block of the compensating linear cylinder C5.

[0120] In one embodiment, the rotary positioning flexible car door fixture includes a main body frame A, a moving gripper B, and a positioning pin part C.

[0121] Preferably, the positioning pin part C mounted at the lower end of the middle of the main body frame A has a wide range of movement, enabling multi-door positioning recognition and matching the production line work of different doors.

[0122] The main body frame A includes an industrial robot quick-change device A1, a frame A2, and four groups of linear guide rail assemblies A3. Among them, the frame A2 is horizontally built in a "day" shape, with the long side in the x direction and the short side in the y direction. Select one side to extend in the y direction, and one group of linear guide rail assemblies A3 is mounted on its lower end face. The industrial robot quick-change device A1 is mounted on the upper end of the same side of the frame, and the remaining three groups of linear guide rail assemblies A3 are respectively installed on the lower end of the frame along the x direction.

[0123] The linear guide rail assembly A3 includes a servo motor A31, a linear guide rail A32, and a connecting piece A33. Among them, the servo motor A31 is connected to the linear guide rail A32 by bolts, and the linear guide rail A32 is connected to the lower end of the frame A2 through the connecting pieces A33 at both ends and fixed with matching bolts.

[0124] The moving gripper B includes a connecting slider B1, a vertically right-folded cylinder B2, a cylinder slider B3, and a gripper B4. Among them, the connecting slider B1 and the linear guide rail A32 are paired components. The side of the connecting slider B1 with pulleys is mounted on the linear guide rail A32, and it can slide on the guide rail through belt drive.

[0125] Preferably, the moving gripper B moves on the linear guide rail assembly A3 mounted on the main body frame A, with a moving range of 0 - 100 mm, enabling the clamping work of different doors and expanding the clamping range and door types.

[0126] Further, the vertical right-fold cylinder B2 is bolted to the end face of the connecting slider B1. The cylinder slider B3 and the vertical right-fold cylinder B2 are a matching component set. The stroke of the slider is 0 - 100 mm in the vertical direction.

[0127] The gripper B4 includes: a clamping cylinder B41, a buffer cylinder B42, a first buffer cylinder fixing part B431, a second buffer cylinder fixing part B432, and a buffer cushion block B44. Among them, the cylinder slider B3 and the first buffer cylinder fixing part B431 are bolted together; similarly, the cylinder slider B3 and the clamping cylinder B41 are bolted together. The bottom ends of the two buffer cylinders B42 are fixedly connected to the lower end of the first buffer cylinder fixing part B431 by bolts, and a buffer cushion block B44 is installed at each top end and is connected and fixed to the second buffer cylinder fixing part B432 by bolts. The other end of the second buffer cylinder fixing part B432 is fixed to one side of the clamping cylinder B41 by bolts.

[0128] Preferably, the vertical right-fold cylinder B2 is bolted to the end face of the connecting slider B1. The cylinder slider B3 and the vertical right-fold cylinder B2 are a matching component set. The cylinder slider B3 and the gripper B4 move together, with a stroke of 0 - 100 mm in the vertical direction, which can expand the range of grasping points.

[0129] Preferably, the combination of the clamping cylinder B41 and the buffer cylinder B42 is selected, which can better grasp irregular curved surfaces and avoid stress concentration.

[0130] The positioning pin part C includes: a rotary cylinder C1, a linear motion guide rail connecting part C2, a linear motion guide rail C3, a linear motion guide rail slider C4, a compensation linear cylinder C5, a compensation linear cylinder fixing part C6, and a positioning pin C7. The rotating shaft of the rotary cylinder C1 is connected with a matching linear motion guide rail connecting part C2. The lower end of the linear motion guide rail connecting part C2 is fixed with a linear motion guide rail C3 by bolts, and this guide rail is driven by a servo motor. The linear motion guide rail slider C4 paired with this guide rail is bolted to a compensation linear cylinder C5, and its side is fixed to the compensation linear cylinder fixing part C6 by bolts. The base of the fixing part is also bolted to the linear motion guide rail slider C4. The push block of the compensation linear cylinder C5 is bolted to the bottom end of the positioning pin C7. Among them, the positioning pin C7 adopts the positioning module of APH products, which has high precision and strong locking force.

[0131] The main frame A serves as a fixed frame. An industrial robot quick-change device A1 is mounted on the upper end, which can match some models of KUKA robots. Four identical mobile grippers B and two positioning pin parts C are mounted on the lower end.

[0132] The moving gripper B can horizontally move the vertical right-fold cylinder B2, the cylinder slider B3, and the gripper B4 together, with a stroke of 0 - 100 mm. Vertically, it can move the cylinder slider B3 and the gripper B4 vertically, with a stroke of 0 - 100 mm, thus realizing the expansion of the types and volumes of the clamped car doors. The moving direction is as shown in Figure 6 shown.

[0133] In the gripper B4, with the clamping cylinder B41, the first buffer cylinder fixing part B431, and the second buffer cylinder fixing part B432 as the fixed frame, the two buffer cylinders B42 can push their respective buffer pads B44 along the vertical direction. At the same time, the clamping cylinder B41 can rotate the cylinder arm clockwise to achieve the purpose of clamping the car door. The motion schematic diagram of the gripper B4 is as shown in Figure 8 shown.

[0134] The positioning pin part C can rotate around the rotation center of the rotary cylinder C1, enabling the linear motion guide connecting part C2, the linear motion guide C3, the linear motion guide slider C4, the compensation linear cylinder C5, the compensation linear cylinder fixing part C6, and the positioning pin C7 assembly to rotate around the axis. At the same time, the linear motion guide C3 can drive the linear motion guide slider C4 with the compensation linear cylinder C5, the compensation linear cylinder fixing part C6, and the positioning pin C7 assembly to move linearly along the guide rail, with a motion stroke of 0 - 500 mm. Thus, the movement range of the positioning pin C7 can be expanded to cover more car door positioning points. The moving direction of the positioning pin part is as shown in Figure 7 shown.

[0135] The basic principle of the present application has been described above in combination with specific embodiments. However, it should be noted that the advantages, advantages, effects, etc. mentioned in the present application are only examples and not limitations. It cannot be considered that these advantages, advantages, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for the purpose of illustration and easy understanding, rather than limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0136] The above description has been given for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions, and sub-combinations thereof.

Claims

1. A rotary positioning flexible fixture for automobile doors, characterized in that, It includes a main body frame, which includes an industrial robot quick-change device a frame, which is fixedly connected to the industrial robot quick-change device, and the frame forms a rectangular structure with a horizontal bar in the middle around the industrial robot quick-change device a plurality of linear guide rail assemblies, which are installed on the frame, and the linear guide rail assemblies include linear guide rails, which are fixedly connected to the lower end of the frame through connectors at both ends servo motors, which are threadedly connected to the linear guide rails a moving gripper, which includes a connecting slider, which is slidably connected to the linear guide rails and is drivingly connected to the servo motors a vertical right-fold cylinder, which is fixedly connected to the connecting slider a cylinder slider, which is connected to the vertical right-fold cylinder and moves in the Z direction under its drive a gripper, which is connected to the cylinder slider a positioning pin part, which includes a rotary cylinder, which is fixedly connected to the frame a linear movement guide rail connector, which is connected to the output rotating shaft of the rotary cylinder a linear movement guide rail, which is fixedly connected to the lower end of the linear movement guide rail connector a linear movement guide rail slider, which is slidably connected to the linear movement guide rail a compensation linear cylinder fixing part, which is fixed to the linear movement guide rail slider a compensation linear cylinder, which is fixedly connected to the compensation linear cylinder fixing part a positioning pin, which is connected to the push block of the compensation linear cylinder 2. The rotary positioning flexible automotive door fixture according to claim 1, wherein, Preferably, the gripper includes a clamping cylinder, which is fixedly connected to the cylinder slider a first buffer cylinder fixing part, which is fixedly connected to the cylinder slider and is adjacent to the clamping cylinder a second buffer cylinder fixing part, which is fixedly connected to the clamping cylinder a buffer cylinder, which is respectively bolted to the first buffer cylinder fixing part and the second buffer cylinder fixing part and is arranged between them a buffer pad, which is installed at the top end of the buffer cylinder 3. The rotary positioning flexible fixture for automotive doors according to claim 2, wherein, The clamping cylinder rotates the cylinder arm clockwise to clamp the car door.

4. The rotary positioning flexible automotive door fixture according to claim 1, wherein, In the rectangular structure with a horizontal bar in the middle, the long side is in the x direction and the short side is in the y direction. A set of linear guide rail assemblies is mounted on the lower end face of a short side extending in the y direction, and an industrial robot quick-change device A1 is mounted on the upper end of the short side. The three sets of linear guide rail assemblies are respectively installed at the lower ends of the long sides extending in the x direction.

5. The rotary positioning flexible fixture for automobile doors according to claim 4, wherein, The moving range of the moving gripper moving on the linear guide rail assemblies is 0 - 100 mm.

6. The rotary positioning flexible fixture for automotive doors according to claim 1, characterized in that, The stroke of the cylinder slider in the Z direction is 0 - 100 mm.

7. The rotary positioning flexible automobile door fixture according to claim 1, characterized in that The compensation linear cylinder fixing part and the positioning pin move linearly along the linear movement guide rail with the linear movement guide rail slider, and the movement stroke is 0 - 500 mm.

8. The rotary positioning flexible fixture for automotive doors according to claim 1, wherein The connecting slider is of an L-shaped structure, which includes a vertical section and a horizontal section, and pulleys for sliding along the linear guide rails are arranged inside the vertical section.

9. The rotary positioning flexible automobile door fixture according to claim 1, wherein It also includes a PLC controller for controlling the movement of the rotary positioning flexible car door fixture.

10. The rotary positioning flexible automobile door fixture according to claim 1, characterized in that, The frame is composed of octagonal tubes.

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