Six-degree-of-freedom automatic assembly system combined with automatic guide platform

Abstract

The invention relates to a six-degree-of-freedom automatic assembly system combined with an automatic guide platform, which comprises a base, and a posture adjusting mechanism composed of a telescopic motor, a telescopic electric pole and a spherical hinge module is arranged on the base so as to adjust the inclination angle of a mounting plane constructed by a rotating platform suspended above the base. Therefore, the horizontal posture of the heterogeneous flange is corrected; a lifting platform for placing a clamp mechanism is supported on the rotating platform in a lifting manner through a lifting adjuster, and the heterogeneous flange to be assembled is placed on the clamp mechanism; and one side of the lifting platform is also provided with an automatic fastening mechanism for adaptively carrying out assembly operation on the heterogeneous flange. High-efficiency and high-precision automatic assembling operation can be achieved, the flexibility and reliability of the assembling process are improved through cooperative use of the posture adjusting mechanism and the precision positioning sensor, a mechanical system is more suitable for different working scenes, diversified industrial automation requirements are met, and the production efficiency and the assembling quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly machinery, and in particular to a six-degree-of-freedom automated assembly system combined with an automatic guiding platform. Background Art

[0002] During the assembly process of aircraft engine combustion chambers, steps such as the raising and lowering, centering, and tightening of heterogeneous test pieces usually rely on manual operation. In particular, when the flange edges of heterogeneous test pieces are butted, it is usually necessary to install multiple sets of bolt and nut structures at intervals on an annular surface to ensure the effectiveness of the connection. However, existing flange connections usually require manual assembly operations, and due to the large size and weight of the test pieces, operators cannot easily and safely adjust the actual placement and exposure position of the test pieces, resulting in great difficulty in the installation of flange bolts, and the inability to effectively and accurately achieve the insertion positioning of the flange connection holes. The overall efficiency is low, and it is easy to introduce human errors, affecting the assembly quality and the overall test results.

[0003] Therefore, there is a need for an assembly system that can achieve efficient and precise installation of combustion chamber heterogeneous test pieces through automated and intelligent means based on machine vision, rapid three-dimensional reconstruction, advanced intelligent control, etc., thereby significantly improving the installation efficiency and quality of combustion chamber heterogeneous test pieces while ensuring assembly safety. Summary of the Invention

[0004] The purpose of the present invention is to provide a six-degree-of-freedom automatic assembly system combined with an automatic guidance platform, which can realize the efficient and precise installation of heterogeneous test pieces in combustion chambers and significantly improve the installation efficiency and quality of heterogeneous test pieces in combustion chambers. By integrating advanced machine vision, optoelectronic systems, intelligent control algorithms and intelligent manufacturing technologies, the efficiency of automatic loading and unloading, centering and tightening of heterogeneous test pieces is significantly improved, so as to solve the problems of low installation efficiency, insufficient automation capability and poor safety in the existing technology.

[0005] The technical solution adopted by the present invention is: a six-degree-of-freedom automatic assembly system combined with an automatic guided platform, including a base, on which is provided an attitude adjustment mechanism composed of a telescopic motor, a telescopic pole and a ball joint module to adjust the inclination angle of the installation plane constructed by a rotating platform suspended above the base, thereby correcting the horizontal attitude of the heterogeneous flange; a lifting platform for placing a clamp mechanism is supported on the rotating platform by a lifting adjuster, wherein the heterogeneous flange to be assembled is placed on the clamp mechanism, so that the lifting adjuster and the attitude adjustment mechanism cooperate with each other to adjust the assembly attitude of the heterogeneous flange in three-dimensional space; an automatic fastening mechanism for adaptively performing assembly operations on the heterogeneous flange is also provided on one side of the lifting platform.

[0006] According to a preferred embodiment, several of the telescopic poles are arranged on the base at intervals through the ball joint module, and the end of the telescopic pole away from the base is also connected to the rotating platform through the ball joint module. The telescopic motor for adjusting the length of the pole body is also connected to the telescopic pole.

[0007] According to a preferred embodiment, the lifting regulator is slidably mounted on the top surface of the rotating platform in a manner that it can controllably perform longitudinal translation.

[0008] According to a preferred embodiment, the clamp mechanism is slidably connected to the top surface of the lifting platform in a manner that enables it to move laterally.

[0009] According to a preferred embodiment, an electric push rod is provided on the lifting platform, which can be arranged on both sides of the clamping mechanism and can change the working position of the clamping mechanism, wherein the two coaxially arranged electric push rods can cooperate with each other to drive the same clamping mechanism to move laterally and change the distance between the two end rollers of the clamping mechanism by adjusting the width of the V-shaped support structure formed by the clamping mechanism.

[0010] According to a preferred embodiment, at least one end roller of the clamping mechanism is transmission-connected to the power output end of the pulley assembly, so that the heterogeneous flange is driven to rotate by the end roller of the clamping mechanism, so that the mounting holes of the heterogeneous flange can be aligned with the electric torque wrench of the automatic tightening mechanism in sequence.

[0011] According to a preferred embodiment, the automatic fastening mechanism includes a bolt and nut group, an electric tightening torque wrench, a cylinder, a positioning guide rail and an automatic fastening mobile platform, wherein the positioning guide rail is suspended on one side of the lifting platform, and the moving end of the positioning guide rail is connected to the automatic fastening mobile platform that can provide an installation plane; a bolt and nut group that can continuously supply assembly bolts and nuts, a cylinder that pushes the bolt and nut group to a predetermined assembly station, and an electric tightening torque wrench that assembles and connects the bolts and nuts at the predetermined assembly station are arranged in partitions on the automatic fastening mobile platform.

[0012] According to a preferred embodiment, an ultrasonic sensor capable of monitoring the real-time relative position of the automatic fastening mobile platform is further provided on the positioning guide rail.

[0013] According to a preferred embodiment, the automatic tightening mobile platform is capable of monitoring the tightening torque output by the electric tightening torque wrench with a torque sensor.

[0014] According to a preferred embodiment, an industrial camera capable of detecting the position and posture of the heterogeneous flange is also provided on the lifting platform.

[0015] The beneficial effects of the present invention are:

[0016] This application significantly improves assembly accuracy and efficiency through integrated design and intelligent control, while reducing labor costs and operational risks, meeting the strict requirements of modern manufacturing for automated assembly technology.

[0017] The posture adjustment mechanism provided in the present application realizes precise positioning and posture adjustment of the rotating platform through the mutual cooperation of the telescopic motor, telescopic pole and ball joint module, and the independent high-precision telescopic extension and retraction of the telescopic poles, and also increases the flexibility and adaptability of the mechanism.

[0018] The clamp mechanism with variable angle provided in the present application can cooperate with the lifting adjuster to adapt to the installation of heterogeneous flanges of various specifications, sizes and shapes, thereby improving the adaptability and stability of limiting different heterogeneous flanges.

[0019] This application effectively ensures the accuracy and speed of limit posture adjustment and assembly positioning through the cooperation of sensors and cameras, thereby improving assembly efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of a preferred six-degree-of-freedom automatic assembly system combined with an automatic guided platform proposed by the present invention;

[0021] Figure 2 It is a side view of a preferred six-degree-of-freedom automatic assembly system combined with an automatic guided platform proposed by the present invention;

[0022] Figure 3 This is a schematic structural diagram of an automatic fastening mechanism of a six-degree-of-freedom automatic assembly system preferably combined with an automatic guided platform proposed by the present invention;

[0023] Figure 4 This is a schematic structural diagram of a fixture mechanism of a six-degree-of-freedom automatic assembly system preferably combined with an automatic guided platform proposed by the present invention;

[0024] Figure 5 This is a structural schematic diagram of an automatic fastening mechanism of a six-degree-of-freedom automatic assembly system preferably combined with an automatic guided platform proposed by the present invention when performing electric clamping and tightening;

[0025] Figure 6 This is a schematic structural diagram of a ball joint module of a preferred six-degree-of-freedom automatic assembly system combined with an automatic guided platform proposed by the present invention;

[0026] Figure 7 This is a workflow diagram of an automatic fastening mechanism of a six-degree-of-freedom automatic assembly system preferably combined with an automatic guided platform proposed by the present invention;

[0027] Figure 8 The figure is a schematic diagram of a visual inspection process of a preferred six-degree-of-freedom automatic assembly system combined with an automatic guided platform proposed by the present invention.

[0028] Reference Signs List

[0029] 1. Base; 2. Telescopic motor; 3. Telescopic pole; 4. Ball joint module; 5. Rotating platform; 6. Lifting adjuster; 7. Lifting platform; 8. Clamp mechanism; 9. Heterogeneous flange; 10. Electric push rod; 11. Bolt and nut set; 12. Industrial camera; 13. Automatic tightening mechanism; 14. Pulley assembly; 15. Torque sensor; 16. Electric tightening torque wrench; 17. Cylinder; 18. Ultrasonic sensor; 19. Positioning guide rail; 20. Automatic tightening mobile platform; 21. Mounting holes. DETAILED DESCRIPTION

[0030] The following is a detailed description with reference to the accompanying drawings.

[0031] The present application provides a six-degree-of-freedom automatic assembly system combined with an automatic guided platform, which includes a base 1, a telescopic motor 2, a telescopic pole 3, a ball joint module 4, a rotating platform 5, a lifting adjuster 7, a clamping mechanism 8, an electric push rod 10, an industrial camera 12, an automatic fastening mechanism 13 and a pulley assembly 14.

[0032] according to Figures 1-8 In a specific embodiment shown, a posture adjustment mechanism composed of a telescopic motor 2, a telescopic pole 3, and a ball joint module 4 is provided on the base 1 to adjust the inclination angle of the installation plane constructed by the rotating platform 5 suspended above the base 1, thereby correcting the horizontal posture of the heterogeneous flange 9. A lifting platform 7 on which a clamping mechanism 8 is placed is supported by a lifting regulator 6 on the rotating platform 5, wherein the heterogeneous flange 9 to be assembled is placed on the clamping mechanism 8, so that the lifting regulator 6 and the posture adjustment mechanism cooperate with each other to adjust the assembly posture of the heterogeneous flange 9 in three-dimensional space, so as to adaptively correct the posture of the clamped flange 9 with different specifications, sizes, and shapes. An automatic fastening mechanism 13 is also provided on one side of the lifting platform 7 for adaptively performing assembly operations on the heterogeneous flange 9, wherein the automatic fastening mechanism 13 can adjustably change its relative position with the heterogeneous flange 9 to adapt to heterogeneous flanges 9 with different specifications, sizes, and shapes.

[0033] Preferably, several telescopic poles 3 are spaced apart on the base 1 via ball-joint modules 4. Furthermore, preferably, the end of the telescopic pole 3 away from the base 1 is also connected to the rotating platform 5 via the ball-joint module 4. This allows the telescopic pole 3 to change the angle between the pole body and the base 1 and the rotating platform 5 during telescopic extension and retraction, thereby adjusting the tilt angle of the rotating platform 5. Preferably, a telescopic motor 2 is also connected to the telescopic pole 3 to adjust the pole body length. Preferably, the telescopic motor 2 provides driving force for the telescopic arm of the telescopic pole 3, controlling the telescopic extension and retraction of the telescopic pole 3 and thereby adjusting the actual pole body length of the telescopic pole 3. By independently and highly precisely adjusting the telescopic extension and retraction of different telescopic poles 3, the rotating platform 5 above is guided to rotate slightly, thereby achieving precise positioning and posture adjustment of the rotating platform 5 and precise fine-tuning of the heterogeneous flange 9. Preferably, the ball-joint module 4 allows the telescopic pole 3 to freely rotate at a certain angle relative to the base 1 and the rotating platform 5, increasing the flexibility and adaptability of the mechanism.

[0034] Preferably, the spherical joint module 4 comprises a central axis and a spherical joint body, with the central axis achieving rotational freedom within a certain angular range via bearings on the spherical joint body. The telescopic pole 3 is aligned and secured with the fixing bolts on the spherical joint body via its end connection flange, while the rotating platform 5 is connected to one end of the spherical joint module via a connection structure at the bottom. Specifically, during posture adjustment, the telescopic pole 3 can be partially extended and retracted axially, allowing the rotating platform 5 to deflect within a certain angle within the horizontal plane, thereby achieving precise positioning and posture adjustment of the heterogeneous flange 9.

[0035] Preferably, the lifting regulator 6 is slidably mounted on the top surface of the rotating platform 5 in a manner that it can be controllably translated longitudinally. Specifically, the bottom of the lifting regulator 6 is connected to the rotating platform 5 via a longitudinal slide rail. Specifically, the lower end of the height adjustment unit of the lifting regulator 6 is connected to the output shaft of the height adjustment motor, and the longitudinal electric push rod that can drive the height adjustment unit of the lifting regulator 6 to follow the longitudinal translation of the slider on the longitudinal slide rail is connected to the base of the height adjustment unit of the lifting regulator 6. The height adjustment motor drives the lead screw of the height adjustment unit to rotate to achieve lifting adjustment, and the longitudinal electric push rod drives the slider and the height adjustment unit to achieve longitudinal movement adjustment in the horizontal plane through telescopic movement, thereby achieving the lifting regulator 6 to change the actual position of the lifting platform 7 and the clamping mechanism 8 by controlling the longitudinal translation and / or height lifting.

[0036] Preferably, the clamping mechanism 8 is connected to the top table of the lifting platform 7 by a sliding rail in such a manner that it can move laterally. Specifically, the clamping mechanism 8 is connected to the lifting platform 7 by a plurality of slide rails arranged in parallel. Preferably, an electric push rod 10 is provided on the lifting platform 7, which can be arranged on both sides of the clamping mechanism 8 and can change the working position of the clamping mechanism 8. Specifically, two coaxially arranged electric push rods 10 can cooperate with each other to drive the same clamping mechanism 8 to move laterally and change the distance between the two end rollers of the clamping mechanism 8 by adjusting the width of the V-shaped support structure formed by the clamping mechanism 8, so that the clamping mechanism 8 with variable width can cooperate with the lifting adjuster 6 to adapt to the installation of a variety of heterogeneous flanges 9 of different specifications, sizes and shapes. Specifically, when it is necessary to change the width of the V-shaped support structure, a single electric push rod independently pushes the clamp structure on one side to move horizontally, thereby realizing the approach or distance between the clamp structures on both sides of the clamping mechanism 8, and then realizing the adjustment of the distance between the two end rollers.

[0037] Preferably, an industrial camera 12 capable of detecting the position and posture of the heterogeneous flange 9 is also provided on the lifting platform 7. Further preferably, the industrial camera 12 may include a first camera and a second camera for monitoring the actual placement position and posture of the heterogeneous flange 9. Specifically, during the operation, the first camera is first used to detect the position of the heterogeneous flange 9 to determine whether it is in a horizontal state, and the heterogeneous flange 9 is adjusted to a predetermined position by cooperating with the posture adjustment platform through monitoring feedback information. Subsequently, the second camera detects whether the stopper of the flange surface is aligned with the predetermined position, and the height of the heterogeneous flange 9 workpiece is fine-tuned and rotated through feedback control to achieve precise alignment of the flange stopper. Finally, the tolerance of the flange stopper is ensured to be kept within the allowable range to achieve precise centering installation of the heterogeneous flange 9. Through automation and intelligent means, the efficiency and accuracy of flange centering installation are significantly improved, while ensuring the safety of the test process.

[0038] Preferably, one end roller of the clamp mechanism 8 is transmission-connected to the power output end of the pulley assembly 14, so that the heterogeneous flange 9 is driven to rotate by the end roller of the clamp mechanism 8, so that the mounting holes 21 of the heterogeneous flange 9 can be aligned with the electric torque wrench 16 of the automatic tightening mechanism 13 in sequence. Specifically, the power output of the pulley assembly 14 can realize the precise rotation of the heterogeneous flange 9 and the assembly positioning of the mounting holes 21 as required. Specifically, the pulley assembly 14 can be fixed on the same support plate following the unilateral clamp structure, so as to achieve the stability of the synchronous movement of the two. The pulley assembly 14 drives a single end roller to rotate, so that the end roller acts as a driving wheel to realize the rotation of the flange, and the other end roller acts as a driven wheel to rotate synchronously and passively.

[0039] Preferably, the pulley assembly 14 can be composed of a motor, a driving pulley, a driven pulley and a belt. Specifically, the motor drives the driving pulley to rotate, and the belt connects the driving pulley and the driven pulley to transmit power. The clamping mechanism 8 constitutes a V-shaped structure, and a slide rail is installed underneath it. The two sides of the clamping mechanism 8 are connected to the electric push rod 10, so that it can move horizontally along the longitudinal direction to achieve the width adjustment of the V-shaped support structure, which is suitable for flanges of different specifications and sizes. Preferably, the end of the clamping jaw of the clamping mechanism 8 is an end roller, and the output shaft of the pulley assembly 14 is connected to at least one end roller in a transmission manner, so that the pulley assembly 14 drives the rotation of the end roller through the motor, and then the rotation of the heterogeneous flange 9 can be realized, so that the electric torque wrench 16 is aligned with the installation holes 21 arranged at intervals on the flange annular surface in sequence.

[0040] Preferably, the automatic tightening mechanism 13 includes a bolt and nut assembly 11, an electric tightening torque wrench 16, a cylinder 17, a positioning guide rail 19, and an automatic tightening mobile platform 20. Preferably, the positioning guide rail 19 is suspended on one side of the lifting platform 7 via a mounting bracket. Further preferably, the automatic tightening mobile platform 20, which provides a mounting surface, is connected to the movable end of the positioning guide rail 19. The automatic tightening mobile platform 20's actual working position within a vertical plane is changed by the interaction of the first lifting guide rail and the second lateral guide rail of the positioning guide rail 19. Preferably, the automatic tightening mobile platform 20 is partitioned and equipped with a bolt and nut assembly 11 that continuously supplies assembly bolts and nuts, a cylinder 17 that propels the bolt and nut assembly 11 to a predetermined assembly station so that the bolts and nuts stored in the bolt and nut assembly 11 are coaxially aligned with the mounting holes 21, and an electric tightening torque wrench 16 that assembles and connects the bolts and nuts at the predetermined assembly station. Specifically, by adjusting the horizontal height of the automatic tightening mobile platform 20 and the distance between it and the lifting platform 7, the bolt and nut group 11 reaches an accurate horizontal position, and then the cylinder 17 is used to push the bolt and nut group 11 closer to the special-shaped flange 9 on the lifting platform 7, so that the bolt and nut group 11 reaches the predetermined working position. At this time, the bolt and nut are coaxial with the mounting hole 21 and are on both sides of the mounting hole 21, and then the electric tightening torque wrench 16 is used to make the bolt pass through the mounting hole 21 and be threadedly connected to the bolt. Preferably, a torque sensor 15 capable of monitoring and providing data feedback on the tightening torque output by the electric tightening torque wrench 16 is provided on the automatic tightening mobile platform 20. Specifically, the electric tightening torque wrench 16 monitors the tightening process in real time through the torque sensor 15 and the feedback mechanism to ensure that the tightening torque of each bolt is within a preset range, and the preset value of this control torque can be adjusted.

[0041] Preferably, the first lifting rail of the positioning guide rail 19 is supported on a mounting bracket, and the moving end of the first lifting rail is connected to the second transverse guide rail, and the moving end of the second transverse guide rail is connected to the automatic fastening mobile platform 20. Thus, the automatic fastening mobile platform 20 can be changed in a certain vertical plane through the controllable directional translation of the moving ends of the first lifting rail and the second transverse guide rail, thereby changing the height of the automatic fastening mobile platform 20 and the distance between it and the lifting platform 7. Preferably, an ultrasonic sensor 18 capable of monitoring the real-time relative position of the automatic fastening mobile platform 20 is also provided on the positioning guide rail 19, so that the positioning guide rail 19 can adjust the working position of the automatic fastening mobile platform 20 based on the monitoring conditions of the ultrasonic sensor 18. Preferably, the ultrasonic sensor 18 is used to monitor the position and speed of the mobile platform to ensure the precise positioning of the real-time working position of the automatic fastening mobile platform 20.

[0042] Specifically, the automatic tightening mechanism 13 is installed on the top of the bracket, and the bracket is firmly mounted on the ground via a fixed structure. The automatic tightening mobile platform 20 moves the electric tightening torque wrench 16 to the mounting hole 21 on the flange ring plate to be tightened. The electric tightening torque wrench 16 automatically tightens the bolts according to the preset torque, supporting the hexagon socket bolts to tightly tighten the bolt and nut groups together. After installation is completed, the cylinder 17 pulls it back and removes it; wait for the next bolt and nut group 11 to enter the slide slot, and the cylinder 17 pushes it to the predetermined position. At the same time, the mobile platform 20 moves the electric tightening torque wrench 16 to align with the next hole. Repeat the above steps until all bolts are tightened.

[0043] The automatic centering and precision posture adjustment method for visual inspection processes, described in this invention, integrates advanced machine vision technology and precision mechanical structures to achieve six-degree-of-freedom fine-tuning of a workpiece. The system includes key components such as an industrial camera, an automatic centering and precision posture adjustment mechanism, and a control system. The control system utilizes an industrial computer + motion control card solution. The industrial computer, as the host computer, is responsible for image processing and motion control calculations, while the motion control card, as the slave computer, is responsible for motor drive and I / O operations.

[0044] The principle of the automatic tightening mechanism of the present invention is as follows: first, the required bolt tightening torque value is set by setting the torque module. The set value is sent to the electric wrench controller as an input signal. After receiving the input signal, the controller generates a corresponding output signal to drive the micro motor. The micro motor converts the rotational motion into linear motion through the reduction mechanism, generates the required output torque, and then drives the mechanical device for tightening the bolts and nuts. During this process, the torque sensor monitors and feeds back the actual applied torque value to the electric wrench controller in real time. The controller compares the feedback torque value with the set torque, and ensures that the bolts and nuts are accurately tightened to the preset specifications through closed-loop control. This operating process not only improves the degree of automation of the tightening process, but also ensures the assembly quality by precisely controlling the torque value, reduces the error and labor intensity of manual operation, and improves the overall production efficiency and safety.

[0045] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, any technical solution that falls within the scope defined by the claims of the present invention falls within the protection scope of the present invention. Those skilled in the art should understand that the description of the present invention and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. Throughout the text, the features guided by "preferably" are only an optional method and should not be understood as having to be set. Therefore, the applicant reserves the right to abandon or delete the relevant preferred features at any time.

Claims

1. A six-degree-of-freedom automatic assembly system combined with an automatic guided platform, comprising a base (1), characterized in that: The base (1) is provided with a posture adjustment mechanism composed of a telescopic motor (2), a telescopic pole (3) and a ball joint module (4) to adjust the tilt angle of the installation plane constructed by a rotating platform (5) suspended above the base (1), thereby correcting the horizontal posture of the heterogeneous flange (9); A lifting platform (7) on which a fixture mechanism (8) is mounted is supported on the rotating platform (5) in a liftable manner via a lifting regulator (6), wherein the heterogeneous flange (9) to be assembled is mounted on the fixture mechanism (8), so that the lifting regulator (6) and the posture adjustment mechanism cooperate with each other to adjust the assembly posture of the heterogeneous flange (9) in three-dimensional space; An automatic fastening mechanism (13) is also provided on one side of the lifting platform (7) for adaptively performing assembly operations on the heterogeneous flange (9).

2. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 1, characterized in that: A plurality of telescopic poles (3) are arranged on the base (1) at intervals via the ball joint module (4), and one end of the telescopic pole (3) away from the base (1) is also connected to the rotating platform (5) via the ball joint module (4). The telescopic electric pole (3) is also transmission-connected to the telescopic motor (2) for adjusting the length of the pole body.

3. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 2, characterized in that: The lifting regulator (6) is slidably mounted on the top surface of the rotating platform (5) in a manner such that it can controllably perform longitudinal translation.

4. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 3, characterized in that: The clamp mechanism (8) is slidably connected to the top surface of the lifting platform (7) in a manner that enables it to move laterally.

5. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 4, characterized in that: An electric push rod (10) is provided on the lifting platform (7) and can be arranged on both sides of the clamp mechanism (8) and can change the working position of the clamp mechanism (8), wherein: The two coaxially arranged electric push rods (10) can cooperate with each other to drive the same clamping mechanism (8) to move laterally and change the distance between the two end rollers of the clamping mechanism (8) by adjusting the width of the V-shaped support structure formed by the clamping mechanism (8).

6. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 5, characterized in that: At least one end roller of the clamping mechanism (8) is transmission-connected to the power output end of the pulley assembly (14), thereby driving the heterogeneous flange (9) to rotate through the end roller of the clamping mechanism (8), so that the mounting hole (21) of the heterogeneous flange (9) can be aligned with the electric torque wrench (16) of the automatic tightening mechanism (13) in sequence.

7. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 6, characterized in that: The automatic fastening mechanism (13) comprises a bolt and nut set (11), an electric tightening torque wrench (16), a cylinder (17), a positioning guide rail (19) and an automatic fastening moving platform (20), wherein: The positioning guide rail (19) is suspended on one side of the lifting platform (7), and the automatic fastening mobile platform (20) capable of providing a mounting plane is connected to the moving end of the positioning guide rail (19); A bolt and nut group (11) capable of continuously supplying assembly bolts and nuts, a cylinder (17) for pushing the bolt and nut group (11) to a predetermined assembly station, and an electric tightening torque wrench (16) for assembling and connecting the bolts and nuts at the predetermined assembly station are arranged in sections on the automatic tightening mobile platform (20).

8. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 7, wherein: An ultrasonic sensor (18) capable of monitoring the real-time relative position of the automatic fastening mobile platform (20) is also provided on the positioning guide rail (19).

9. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 8, characterized in that: The automatic tightening mobile platform (20) is capable of monitoring the tightening torque output by the electric tightening torque wrench (16) using a torque sensor (15).

10. The six-degree-of-freedom automatic assembly system combined with an automatic guided platform according to claim 9, characterized in that: An industrial camera (12) capable of detecting the position and posture of the heterogeneous flange (9) is also provided on the lifting platform (7).

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